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E-raamat: Synchronization and Control of Multiagent Systems

(City University of Hong Kong, Kowloon)
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Synchronization and Control of Multiagent SystemsSuurem pilt
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"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 suchtopics as adaptive synchronization control, synchronous tracking control of parallel manipulators, and minimization of contouring errors of CNC machine tools with synchronization controls"--

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Preface xi
Acknowledgments xiii
About the Author xv
Chapter 1 Introduction
1(16)
1.1 Background
1(6)
1.2 Synchronization
7(3)
1.3 Outline of the Book
10(1)
1.4 Summary
11(1)
References
12(5)
Chapter 2 Synchronization Strategy
17(12)
2.1 Concept of Synchronization
17(3)
2.2 Synchronization Control Goal
20(5)
2.3 Synchronization Errors
25(2)
2.4 Summary
27(1)
References
28(1)
Chapter 3 Model-Free Synchronization Control of Multiple Motion Axes
29(26)
3.1 Problem Statement
29(3)
3.2 Position Synchronization Errors and Control Strategy
32(1)
3.3 Multiaxis Synchronization in Setpoint Position Control
33(4)
3.4 Multiaxis Synchronization in Tracking Control
37(3)
3.5 Experiments
40(8)
3.6 Summary
48(4)
References
52(3)
Chapter 4 Synchronized Control of Multiaxis Systems in Trajectory Tracking
55(18)
4.1 Synchronization Strategy of Multiagent Motions
55(2)
4.1.1 Synchronization Strategy
57(1)
4.2 Model-Based Cross-Coupling Synchronization Control
57(5)
4.3 Adaptive Synchronization Control
62(4)
4.4 Case Study---Adaptive Coupling Control of Two Working Operations in Computer Numerical Control Integrated Machine
66(5)
4.5 Summary
71(1)
References
71(2)
Chapter 5 Adaptive Synchronization Control for Coordination of Multiple Robot Manipulators
73(28)
5.1 Introduction
73(2)
5.2 Motion Synchronization Strategy of Multiple Manipulators
75(3)
5.3 Adaptive Synchronization Control
78(5)
5.4 Case Studies
83(14)
5.4.1 Experiments of Coordinating Two Industrial Manipulators
83(6)
5.4.2 Simulations of Coordinating Multiple Manipulators
89(8)
5.5 Summary
97(1)
References
98(3)
Chapter 6 Synchronization Control for Minimization of Contouring Errors of Computer Numerically Controlled Machine Tools
101(26)
6.1 Introduction
102(2)
6.2 Modeling of a Computer Numerical Control Machine Tool
104(1)
6.3 Contouring Errors and Synchronization Errors
105(3)
6.3.1 Contouring Errors
105(1)
6.3.2 Synchronization Errors
106(2)
6.4 Control Design
108(5)
6.4.1 Controller Formulation
108(2)
6.4.2 Stability Analysis
110(3)
6.5 Experiments
113(9)
6.6 Summary
122(3)
References
125(2)
Chapter 7 Synchronization Control of Parallel Robotic Manipulators
127(20)
7.1 Introduction
127(3)
7.2 Modeling and Synchronization Error of Parallel Manipulators
130(3)
7.2.1 Modeling
130(1)
7.2.2 Synchronization Error
131(2)
7.3 Control Design
133(5)
7.4 Experiments
138(4)
7.5 Summary
142(2)
References
144(3)
Chapter 8 A Synchronization Approach to Multirobot Formations
147(32)
8.1 Introduction
147(3)
8.2 Multirobot Formation via Synchronization
150(3)
8.3 Control Design
153(7)
8.3.1 Synchronous Formation Controller
154(4)
8.3.2 Discussions
158(1)
8.3.2.1 Boundedness
158(1)
8.3.2.2 Adaptive Control for Robustness
159(1)
8.4 Simulations
160(6)
8.5 Multirobot Formation Experiments
166(8)
8.5.1 Case 1: Triangle Formation
166(2)
8.5.2 Case 2: Ellipse Formation
168(6)
8.6 Summary
174(1)
Appendix
174(1)
References
175(4)
Index 179
City University of Hong Kong, Kowloon
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