Formation Control of Multi-Agent Systems

Index

• a
• Acceleration  71
  • Angular  77
  • Input  5, 23, 27, 71, 72, 81, 113
  • Swarm  27
  • Target  27, 77
  • Translational  77
• Adaptation law  101, 152
• Aggregation  4, 105
• Aircraft  27
• Autonomous vehicle  2

• b
• Brockett's Condition  92

• c
• Center of mass  92, 100, 111, 112
• Centralized  3, 4
• Compass  5, 107
• Connectivity  23
• Consensus  4, 58, 68, 88, 105
• Control
  • Adaptive  27, 91, 100, 101, 105, 149, 153
  • Dynamic robust  26, 40
  • Model‐based  91, 98, 99
  • Neural network  105
  • Robust adaptive  105
  • Sliding mode  104
  • Variable structure  27, 38, 77, 79, 139
• Convex hull  7, 25, 171
• Coordinate frame  5, 9, 23, 29, 34, 71

• d
• Decentralized  1, 3–6, 26, 33, 36, 43, 76
• Differential inclusion  39, 78, 171
• Distance mismatch  67, 89
• Distributed see Decentralized  1

• e
• Edge function  9, 11, 16, 30
• Eigenvalue  159, 169, 175
• Eigenvector  159
• Energy
  • Cross‐edge  74
  • Kinetic  72, 73
  • Potential  72, 73
• Equilibrium point  167–173

• f
• Filippov solution  171
• Flocking  4, 24, 26, 36, 56, 58, 88, 105
• Foraging  4, 105
• Formation
  • Acquisition  4, 24, 26, 27, 29, 31, 36, 43, 45, 66, 68, 69, 75, 80, 88, 91, 99, 105, 117, 132, 149, 155
  • Control  4–6, 21, 23, 24, 26, 28, 29, 68, 69, 87, 105
  • Desired  6, 23–27, 34, 43, 45, 51, 63, 65, 66, 80, 81, 83, 84, 89, 102, 117
  • Dynamic  23, 27, 44, 63, 79, 81, 88, 89, 128, 148
  • Maneuver  69
  • Maneuvering  4, 24, 26, 27, 35, 36, 45, 51, 66, 68, 69, 76, 77, 80, 81, 88, 103–105, 118, 136
  • Triangular  67, 69, 115, 120
• Framework  9, 11–24, 33, 46, 48, 51, 80, 81, 84
  • Ambiguity  20,