Formation Control of Multiple Autonomous Vehicle Systems

The purpose of this book is to assist analysts, engineers, and students toward developing dynamic models, and analyzing the control of flight vehicles with various blended features comprising aircraft, launch vehicles, reentry vehicles, missiles and aircraft. Graphical methods for analysing vehicle performance Methods for trimming deflections of a vehicle that has multiple types of effectors Presents a parameters used for speedily evaluating the performance, stability, and controllability of a new flight vehicle concept along a trajectory or with fixed flight conditions

Formation Control of Multi-Agent Systems: A Graph Rigidity Approach Marcio de Queiroz, Louisiana State University, USA Xiaoyu Cai, FARO Technologies, USA Matthew Feemster, U.S. Naval Academy, USA A comprehensive guide to formation control of multi-agent systems using rigid graph theory This book is the first to provide a comprehensive and unified treatment of the subject of graph rigidity-based formation control of multi-agent systems. Such systems are relevant to a variety of emerging engineering applications, including unmanned robotic vehicles and mobile sensor networks. Graph theory, and rigid graphs in particular, provides a natural tool for describing the multi-agent formation shape as well as the inter-agent sensing, communication, and control topology. Beginning with an introduction to rigid graph theory, the contents of the book are organized by the agent dynamic model (single integrator, double integrator, and mechanical dynamics) and by the type of formation problem (formation acquisition, formation manoeuvring, and target interception). The book presents the material in ascending level of difficulty and in a self-contained manner; thus, facilitating reader understanding. Key features: Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. Considers different agent models and formation control problems. Control designs throughout the book progressively build upon each other. Provides a primer on rigid graph theory. Combines theory, computer simulations, and experimental results. Formation Control of Multi-Agent Systems: A Graph Rigidity Approach is targeted at researchers and graduate students in the areas of control systems and robotics. Prerequisite knowledge includes linear algebra, matrix theory, control systems, and nonlinear systems.

The idea of autonomous systems that are able to make choices according to properties which allow them to experience, apprehend and assess their environment is becoming a reality. These systems are capable of auto-configuration and self-organization. This book presents a model for the creation of autonomous systems based on a complex substratum, made up of multiple electronic components that deploy a variety of specific features. This substratum consists of multi-agent systems which act continuously and autonomously to collect information from the environment which they then feed into the global system, allowing it to generate discerning and concrete representations of its surroundings. These systems are able to construct a so-called artificial corporeity which allows them to have a sense of self, to then behave autonomously, in a way reminiscent of living organisms.

A practical methodology for designing integrated automation control for systems and processes Implementing digital control within mechanical-electronic (mechatronic) systems is essential to respond to the growing demand for high-efficiency machines and processes. In practice, the most efficient digital control often integrates time-driven and event-driven characteristics within a single control scheme. However, most of the current engineering literature on the design of digital control systems presents discrete-time systems and discrete-event systems separately.  Control Of Mechatronic Systems: Model-Driven Design And Implementation Guidelines  unites the two systems, revisiting the concept of automated control by presenting a unique practical methodology for whole-system integration. With its innovative hybrid approach to the modeling, analysis, and design of control systems, this text provides material for mechatronic engineering and process automation courses, as well as for self-study across engineering disciplines. Real-life design problems and automation case studies help readers transfer theory to practice, whether they are building single machines or large-scale industrial systems.  Presents a novel approach to the integration of discrete-time and discrete-event systems within mechatronic systems and industrial processes Offers user-friendly self-study units, with worked examples and numerous real-world exercises in each chapter Covers a range of engineering disciplines and applies to small- and large-scale systems, for broad appeal in research and practice Provides a firm theoretical foundation allowing readers to comprehend the underlying technologies of mechatronic systems and processes  Control Of Mechatronic Systems  is an important text for advanced students and professionals of all levels engaged in a broad range of engineering disciplines.

In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: – controllability and observability of multi-agent systems; – robust consensus; – flight formation control; – stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escare?o, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. Garc?a, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. Garc?a Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.

Thermal Management of Electric Vehicle Battery Systems provides a thorough examination of various conventional and cutting edge electric vehicle (EV) battery thermal management systems (including phase change material) that are currently used in the industry as well as being proposed for future EV batteries. It covers how to select the right thermal management design, configuration and parameters for the users’ battery chemistry, applications and operating conditions, and provides guidance on the setup, instrumentation and operation of their thermal management systems (TMS) in the most efficient and effective manner. This book provides the reader with the necessary information to develop a capable battery TMS that can keep the cells operating within the ideal operating temperature ranges and uniformities, while minimizing the associated energy consumption, cost and environmental impact. The procedures used are explained step-by-step, and generic and widely used parameters are utilized as much as possible to enable the reader to incorporate the conducted analyses to the systems they are working on. Also included are comprehensive thermodynamic modelling and analyses of TMSs as well as databanks of component costs and environmental impacts, which can be useful for providing new ideas on improving vehicle designs. Key features: Discusses traditional and cutting edge technologies as well as research directions Covers thermal management systems and their selection for different vehicles and applications Includes case studies and practical examples from the industry Covers thermodynamic analyses and assessment methods, including those based on energy and exergy, as well as exergoeconomic, exergoenvironmental and enviroeconomic techniques Accompanied by a website hosting codes, models, and economic and environmental databases as well as various related information Thermal Management of Electric Vehicle Battery Systems is a unique book on electric vehicle thermal management systems for researchers and practitioners in industry, and is also a suitable textbook for senior-level undergraduate and graduate courses.

Power systems worldwide are going through a paradigm shift from centralized generation to distributed generation. This book presents the SYNDEM (i.e., synchronized and democratized) grid architecture and its technical routes to harmonize the integration of renewable energy sources, electric vehicles, storage systems, and flexible loads, with the synchronization mechanism of synchronous machines, to enable autonomous operation of power systems, and to promote energy freedom. This is a game changer for the grid. It is the sort of breakthrough – like the touch screen in smart phones – that helps to push an industry from one era to the next, as reported by Keith Schneider, a New York Times correspondent since 1982. This book contains an introductory chapter and additional 24 chapters in five parts: Theoretical Framework, First-Generation VSM (virtual synchronous machines), Second-Generation VSM, Third-Generation VSM, and Case Studies. Most of the chapters include experimental results.

As the first book of its kind for power electronics-enabled autonomous power systems, it

• introduces a holistic architecture applicable to both large and small power systems, including aircraft power systems, ship power systems, microgrids, and supergrids
• provides latest research to address the unprecedented challenges faced by power systems and to enhance grid stability, reliability, security, resiliency, and sustainability
• demonstrates how future power systems achieve harmonious interaction, prevent local faults from cascading into wide-area blackouts, and operate autonomously with minimized cyber-attacks
• highlights the significance of the SYNDEM concept for power systems and beyond

Power Electronics-Enabled Autonomous Power Systems is an excellent book for researchers, engineers, and students involved in energy and power systems, electrical and control engineering, and power electronics. The SYNDEM theoretical framework chapter is also suitable for policy makers, legislators, entrepreneurs, commissioners of utility commissions, energy and environmental agency staff, utility personnel, investors, consultants, and attorneys.

This book contains more than 150 problems and solutions on the control of linear continuous systems. The main definitions and theoretical tools are summarized at the beginning of each chapter, after which the reader is guided through the problems and how to solve them. The author provides coverage of the ideas behind the developments of the main PID tuning techniques, as well as presenting the proof of the Routh–Hurwitz stability criterion and giving some new results dealing with the design of root locus.

Providing a detailed overview of the fundamentals and latest developments in the field of energy autonomous microsystems, this book delivers an in-depth study of the applications in the fields of health and usage monitoring in aeronautics, medical implants, and home automation, drawing out the main specifications on such systems. Introductory information on photovoltaic, thermal and mechanical energy harvesting, and conversion, is given, along with the latest results in these fields. This book also provides a state of the art of ultra-low power sensor interfaces, digital signal processing and wireless communications. In addition, energy optimizations at the sensor node and sensors network levels are discussed, thus completing this overview. This book details the challenges and latest techniques available to readers who are interested in this field. A major strength of this book is that the first three chapters are application orientated and thus, by setting the landscape, introduce the technical chapters. There is also a good balance between the technical application, covering all the system-related aspects and, within each chapter, details on the physics, materials and technologies associated with electronics. Contents Introduction. Introduction to Energy Autonomous Micro
and Nano Systems and Presentation of Contributions, Marc Belleville and Cyril Condemine. 1. Sensors at the Core of Building Control, Gilles Chabanis, Laurent Chiesi, Hynek Raisigel,
Isabelle Ressejac and V?ronique Boutin. 2. Toward Energy Autonomous MedicalImplants, Raymond Campagnolo and Daniel Kroiss. 3. Energy Autonomous Systems in Aeronautic Applications, Thomas Becker, Jirka Klaue and Martin Kluge. 4. Energy Harvesting by Photovoltaic Effect, Emmanuelle Rouvi?re, Simon Perraud, Cyril Condemine and
Guy Waltisperger. 5. Mechanical Energy Harvesting, Ghislain Despesse, Jean Jacques Chaillout,
S?bastien Boisseau and Claire Jean-Mistral. 6. Thermal Energy Harvesting, Tristan Caroff, Emmanuelle Rouvi?re and J?r?me Willemin. 7. Lithium Micro-Batteries, Rapha?l Salot. 8. Ultra-Low-Power Sensors, Pascal Nouet, Norbert Dumas, Laurent Latorre and
Fr?d?rick Mailly. 9. Ultra-Low-Power Signal Processing in Autonomous Systems, Christian Piguet. 10. Ultra-Low-Power Radio Frequency Communications and Protocols, Eric Mercier. 11. Energy Management in an Autonomous Microsystem, Jean-Fr?d?ric Christmann, Edith Beigne, Cyril Condemine, J?r?me Willemin and Christian Piguet. 12. Optimizing Energy Efficiency of Sensor Networks, Olivier Sentieys and Olivier Berder.