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Cover image for Synchronization and control of multiagent systems
Title:
Synchronization and control of multiagent systems
Personal Author:
Series:
Automation and control engineering
Publication Information:
Boca Raton, FL : CRC Press, c2011
Physical Description:
xv, 184 p. : ill. ; 25 cm.
ISBN:
9781439820476
Abstract:
"Multiple intelligent agent systems are commonly used in research requiring complex behavior. Synchronization control provides an advantage in solving the problem of multi-agent coordination. This book focuses on the use of synchronization control to coordinate the group behavior of multiple agents. The author includes numerous real-world application examples from robotics, automation, and advanced manufacturing. Giving a detailed look at cross-coupling based synchronization control, the text covers such topics as adaptive synchronization control, synchronous tracking control of parallel manipulators, and minimization of contouring errors of CNC machine tools with synchronization controls"-- Provided by publisher.

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30000010275367 TJ213 S798 2011 Open Access Book Book
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Summary

Summary

Multiple intelligent agent systems are commonly used in research requiring complex behavior. Synchronization control provides an advantage in solving the problem of multi-agent coordination. This book focuses on the use of synchronization control to coordinate the group behavior of multiple agents. The author includes numerous real-world application examples from robotics, automation, and advanced manufacturing. Giving a detailed look at cross-coupling based synchronization control, the text covers such topics as adaptive synchronization control, synchronous tracking control of parallel manipulators, and minimization of contouring errors of CNC machine tools with synchronization controls.


Table of Contents

Prefacep. xi
Acknowledgmentsp. xiii
About the Authorp. xv
Chapter 1 Introductionp. 1
1.1 Backgroundp. 1
1.2 Synchronizationp. 7
1.3 Outline of the Bookp. 10
1.4 Summaryp. 11
Referencesp. 12
Chapter 2 Synchronization Strategyp. 17
2.1 Concept of Synchronizationp. 17
2.2 Synchronization Control Goalp. 20
2.3 Synchronization Errorsp. 25
2.4 Summaryp. 27
Referencesp. 28
Chapter 3 Model-Free Synchronization Control of Multiple Motion Axesp. 29
3.1 Problem Statementp. 29
3.2 Position Synchronization Errors and Control Strategyp. 32
3.3 Multiaxis Synchronization in Setpoint Position Controlp. 33
3.4 Multiaxis Synchronization in Tracking Controlp. 37
3.5 Experimentsp. 40
3.6 Summaryp. 48
Referencesp. 52
Chapter 4 Synchronized Control of Multiaxis Systems in Trajectory Trackingp. 55
4.1 Synchronization Strategy of Multiagent Motionsp. 55
4.1.1 Synchronization Strategyp. 57
4.2 Model-Based Cross-Coupling Synchronization Controlp. 57
4.3 Adaptive Synchronization Controlp. 62
4.4 Case Study-Adaptive Coupling Control of Two Working Operations in Computer Numerical Control Integrated Machinep. 66
4.5 Summaryp. 71
Referencesp. 71
Chapter 5 Adaptive Synchronization Control for Coordination of Multiple Robot Manipulatorsp. 73
5.1 Introductionp. 73
5.2 Motion Synchronization Strategy of Multiple Manipulatorsp. 75
5.3 Adaptive Synchronization Controlp. 78
5.4 Case Studiesp. 83
5.4.1 Experiments of Coordinating Two Industrial Manipulatorsp. 83
5.4.2 Simulations of Coordinating Multiple Manipulatorsp. 89
5.5 Summaryp. 97
Referencesp. 98
Chapter 6 Synchronization Control for Minimization of Contouring Errors of Computer Numerically Controlled Machine Toolsp. 101
6.1 Introductionp. 102
6.2 Modelling of a Computer Numerical Control Machine Toolp. 104
6.3 Contouring Errors and Synchronization Errorsp. 105
6.3.1 Contouring Errorsp. 105
6.3.2 Synchronization Errorsp. 106
6.4 Control Designp. 108
6.4.1 Controller Formulationp. 108
6.4.2 Stability Analysisp. 110
6.5 Experimentsp. 113
6.6 Summaryp. 122
Referencesp. 125
Chapter 7 Synchronization Control of Parallel Robotic Manipulatorsp. 127
7.1 Introductionp. 127
7.2 Modeling and Synchronization Error of Parallel Manipulatorsp. 130
7.2.1 Modelingp. 130
7.2.2 Synchronization Errorp. 131
7.3 Control Designp. 133
7.4 Experimentsp. 138
7.5 Summaryp. 142
Referencesp. 144
Chapter 8 A Synchronization Approach to Multirobot Formationsp. 147
8.1 Introductionp. 147
8.2 Multirobot Formation via Synchronizationp. 150
8.3 Control Designp. 153
8.3.1 Synchronous Formation Controllerp. 154
8.3.2 Discussionsp. 158
8.3.2.1 Boundednessp. 158
8.3.2.2 Adaptive Control for Robustnessp. 159
8.4 Simulationsp. 160
8.5 Multirobot Formation Experimentsp. 166
8.5.1 Case 1: Triangle Formationp. 166
8.5.2 Case 2: Ellipse Formationp. 168
8.6 Summaryp. 174
Appendixp. 174
Referencesp. 175
Indexp. 179
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