Formation and Containment Control for High-order Linear Swarm Systems

This book focuses on analysis and design problems for high-order linear time-invariant (LTI) swarm systems (multi-agent systems) to achieve consensus, formation, containment and formation-containment. As a first step, the concepts of practical consensus and formation-containment are introduced. Unlike previous research, the formation in this book can be time-varying. A general framework for consensus, consensus tracking, formation, containment and state formation-containment is presented for the first time.Sufficient/necessary and sufficient conditions, and approaches to designing the protocols for swarm systems to achieve these control objectives, are respectively proposed. Autonomous time-varying formation experiments using five quadrotor unmanned aerial vehicles (UAVs) are conducted in an outdoor setting to demonstrate the theoretical results.

“The book under review is an excellent Ph. D. dissertation on the topic of formation and containment control for high-order linear swarm systems. … The book is well organized, precise, interesting, and readable even for the reader with a moderate engineering background. It can be regarded as a very good reference book for scholars and students who are interested in swarm systems control.” (Yun Zou, Mathematical Reviews, October, 2016)“This is an interesting book published as a version of a PhD thesis. It focuses on the analytics of fundamental aspects of swarm robots modeled as multiagent systems, where individual and collective behaviors of the swarms play key roles in the success of the systems.” (Mehmet Aydin, Computing Reviews, April, 2016)

Research interests:Multi-agent systemConsensus controlFormation controlContainment controlFormation-containment controlUnmanned aerial vehicleEmbedded systemPrevious degrees:Ph.D. Control Science and Engineering September 2009 - July 2014 Department of Automation, Tsinghua University, Beijing, P. R. China Supervisor: Prof. Yisheng ZhongB.E. Automation September 2005 - July 2009 School of Automation, Chongqing University, Chongqing, P. R. ChinaPrizes and awards:[1] Outstanding Graduates of Beijing, 2014 [2] Outstanding Doctoral Dissertation of Tsinghua University, 2014 [3] Academic Rookie in Department of Automation, Tsinghua University, 2014 [4] National Scholarship for Doctoral Candidate, 2013 [5] Second Scholarship of Tsinghua Zhiyou-Guanghua, 2012 [6] Second Scholarship for Graduate Summer Intern of Tsinghua University, 2012 [7] Advanced Individual of Graduate Union, Dept. of Automation, Tsinghua University, 2011 [8] Siemens A&D Scholarship, 2008 [9] First Prize in America Interdisciplinary Contest in Modeling, 2008[10] Second Prize in China Undergraduate Mathematical Contest in Modeling, 2007 [11] Excellent Student Scholarship of Chongqing University for 6 times. 2005-2009Journal publications:[1] X.W. Dong, J.X. Xi, G. Lu, Y.S. Zhong, Formation control for high-order linear time-invariant multi-agent systems with time delays, IEEE Transactions on Control of Network Systems, 2014, 1(3): 232-240. (Regular paper) [2] X.W. Dong, B.C. Yu, Z.Y. Shi, Y.S. Zhong, Time-varying formation control for unmanned aerial vehicles: Theories and applications, IEEE Transactions on Control Systems Technology, 2015, 23(1): 340-348. (IF=2.521, Q1) [3] X.W. Dong, F.L. Meng, Z.Y. Shi, G. Lu, Y.S. Zhong, Output containment control for swarm systems with general linear dynamics: A dynamic output feedback approach, Systems & Control Letters, 2014, 71(1): 31-37. (IF=1.886, Q2) [4] X.W. Dong, Z.Y. Shi, G. Lu, Y.S. Zhong, Time-varying formation control for high-order linear swarm systems with switching interaction topologies, IET Control Theory & Applications, 2014, 8(18): 2162-2170.  (IF=1.844, Q2)[5] X.W. Dong, J.X. Xi, G. Lu, Y.S. Zhong, Containment analysis and design for high-order linear time-invariant singular swarm systems with time delays, International Journal of Robust and Nonlinear Control, 2014, 24(7): 1189-1204. (IF=2.652, Q1)[6] X.W. Dong, Z.Y. Shi, G. Lu, Y.S. Zhong, Output containment analysis and design for high-order linear time-invariant swarm systems, International Journal of Robust and Nonlinear Control, in press, 2013. DOI: 10.1002/rnc.3118. (IF=2.652, Q1) [7] X.W. Dong, Z.Y. Shi, G. Lu, Y.S. Zhong, Formation-containment analysis and design for high-order linear time-invariant swarm systems, International Journal of Robust and Nonlinear Control, in press, 2014. DOI: 10.1002/rnc.3274. (IF=2.652, Q1) [8] X.W. Dong, J.X. Xi, Z.Y. Shi, Y.S. Zhong, Practical consensus for high-order linear time-invariant swarm systems with interaction uncertainties, time