Synchronization and Control of Multiagent

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.

Preface	p. xi
Acknowledgments	p. xiii
About the Author	p. xv
Introduction	p. 1
Background	p. 1
Synchronization	p. 7
Outline of the Book	p. 10
Summary	p. 11
References	p. 12
Synchronization Strategy	p. 17
Concept of Synchronization	p. 17
Synchronization Control Goal	p. 20
Synchronization Errors	p. 25
Summary	p. 27
References	p. 28
Model-Free Synchronization Control of Multiple Motion Axes	p. 29
Problem Statement	p. 29
Position Synchronization Errors and Control Strategy	p. 32
Multiaxis Synchronization in Setpoint Position Control	p. 33
Multiaxis Synchronization in Tracking Control	p. 37
Experiments	p. 40
Summary	p. 48
References	p. 52
Synchronized Control of Multiaxis Systems in Trajectory Tracking	p. 55
Synchronization Strategy of Multiagent Motions	p. 55
Synchronization Strategy	p. 57
Model-Based Cross-Coupling Synchronization Control	p. 57
Adaptive Synchronization Control	p. 62
Case Study-Adaptive Coupling Control of Two Working Operations in Computer Numerical Control Integrated Machine	p. 66
Summary	p. 71
References	p. 71
Adaptive Synchronization Control for Coordination of Multiple Robot Manipulators	p. 73
Introduction	p. 73
Motion Synchronization Strategy of Multiple Manipulators	p. 75
Adaptive Synchronization Control	p. 78
Case Studies	p. 83
Experiments of Coordinating Two Industrial Manipulators	p. 83
Simulations of Coordinating Multiple Manipulators	p. 89
Summary	p. 97
References	p. 98
Synchronization Control for Minimization of Contouring Errors of Computer Numerically Controlled Machine Tools	p. 101
Introduction	p. 102
Modelling of a Computer Numerical Control Machine Tool	p. 104
Contouring Errors and Synchronization Errors	p. 105
Contouring Errors	p. 105
Synchronization Errors	p. 106
Control Design	p. 108
Controller Formulation	p. 108
Stability Analysis	p. 110
Experiments	p. 113
Summary	p. 122
References	p. 125
Synchronization Control of Parallel Robotic Manipulators	p. 127
Introduction	p. 127
Modeling and Synchronization Error of Parallel Manipulators	p. 130
Modeling	p. 130
Synchronization Error	p. 131
Control Design	p. 133
Experiments	p. 138
Summary	p. 142
References	p. 144
A Synchronization Approach to Multirobot Formations	p. 147
Introduction	p. 147
Multirobot Formation via Synchronization	p. 150
Control Design	p. 153
Synchronous Formation Controller	p. 154
Discussions	p. 158
Boundedness	p. 158
Adaptive Control for Robustness	p. 159
Simulations	p. 160
Multirobot Formation Experiments	p. 166
Case 1: Triangle Formation	p. 166
Case 2: Ellipse Formation	p. 168
Summary	p. 174
Appendix	p. 174
References	p. 175
Index	p. 179
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Synchronization and Control of Multiagent Systems

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