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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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
Preface | p. xi |
Acknowledgments | p. xiii |
About the Author | p. xv |
Chapter 1 Introduction | p. 1 |
1.1 Background | p. 1 |
1.2 Synchronization | p. 7 |
1.3 Outline of the Book | p. 10 |
1.4 Summary | p. 11 |
References | p. 12 |
Chapter 2 Synchronization Strategy | p. 17 |
2.1 Concept of Synchronization | p. 17 |
2.2 Synchronization Control Goal | p. 20 |
2.3 Synchronization Errors | p. 25 |
2.4 Summary | p. 27 |
References | p. 28 |
Chapter 3 Model-Free Synchronization Control of Multiple Motion Axes | p. 29 |
3.1 Problem Statement | p. 29 |
3.2 Position Synchronization Errors and Control Strategy | p. 32 |
3.3 Multiaxis Synchronization in Setpoint Position Control | p. 33 |
3.4 Multiaxis Synchronization in Tracking Control | p. 37 |
3.5 Experiments | p. 40 |
3.6 Summary | p. 48 |
References | p. 52 |
Chapter 4 Synchronized Control of Multiaxis Systems in Trajectory Tracking | p. 55 |
4.1 Synchronization Strategy of Multiagent Motions | p. 55 |
4.1.1 Synchronization Strategy | p. 57 |
4.2 Model-Based Cross-Coupling Synchronization Control | p. 57 |
4.3 Adaptive Synchronization Control | p. 62 |
4.4 Case Study-Adaptive Coupling Control of Two Working Operations in Computer Numerical Control Integrated Machine | p. 66 |
4.5 Summary | p. 71 |
References | p. 71 |
Chapter 5 Adaptive Synchronization Control for Coordination of Multiple Robot Manipulators | p. 73 |
5.1 Introduction | p. 73 |
5.2 Motion Synchronization Strategy of Multiple Manipulators | p. 75 |
5.3 Adaptive Synchronization Control | p. 78 |
5.4 Case Studies | p. 83 |
5.4.1 Experiments of Coordinating Two Industrial Manipulators | p. 83 |
5.4.2 Simulations of Coordinating Multiple Manipulators | p. 89 |
5.5 Summary | p. 97 |
References | p. 98 |
Chapter 6 Synchronization Control for Minimization of Contouring Errors of Computer Numerically Controlled Machine Tools | p. 101 |
6.1 Introduction | p. 102 |
6.2 Modelling of a Computer Numerical Control Machine Tool | p. 104 |
6.3 Contouring Errors and Synchronization Errors | p. 105 |
6.3.1 Contouring Errors | p. 105 |
6.3.2 Synchronization Errors | p. 106 |
6.4 Control Design | p. 108 |
6.4.1 Controller Formulation | p. 108 |
6.4.2 Stability Analysis | p. 110 |
6.5 Experiments | p. 113 |
6.6 Summary | p. 122 |
References | p. 125 |
Chapter 7 Synchronization Control of Parallel Robotic Manipulators | p. 127 |
7.1 Introduction | p. 127 |
7.2 Modeling and Synchronization Error of Parallel Manipulators | p. 130 |
7.2.1 Modeling | p. 130 |
7.2.2 Synchronization Error | p. 131 |
7.3 Control Design | p. 133 |
7.4 Experiments | p. 138 |
7.5 Summary | p. 142 |
References | p. 144 |
Chapter 8 A Synchronization Approach to Multirobot Formations | p. 147 |
8.1 Introduction | p. 147 |
8.2 Multirobot Formation via Synchronization | p. 150 |
8.3 Control Design | p. 153 |
8.3.1 Synchronous Formation Controller | p. 154 |
8.3.2 Discussions | p. 158 |
8.3.2.1 Boundedness | p. 158 |
8.3.2.2 Adaptive Control for Robustness | p. 159 |
8.4 Simulations | p. 160 |
8.5 Multirobot Formation Experiments | p. 166 |
8.5.1 Case 1: Triangle Formation | p. 166 |
8.5.2 Case 2: Ellipse Formation | p. 168 |
8.6 Summary | p. 174 |
Appendix | p. 174 |
References | p. 175 |
Index | p. 179 |