Multi-modality Control of Reconfigurable Swarm

This book is intended for the fields of control engineering and swarm coordination. It introduces the fundamental methods and application technologies of a novel multi-agent system—reconfigurable swarms—in formation coordination, reconfiguration docking, task scheduling, and multi-modality control. The proposed overall control methodologies are validated through MATLAB simulations and physical experiments, offering effective theoretical and technical guidance for the emerging area of multi-modality control in reconfigurable swarm systems. This book is suitable for engineering professionals engaged in swarm systems and control technologies, and can also serve as a valuable reference for researchers in related academic institutions.

The basis of English translation of this book, originally in Chinese, was facilitated by artificial intelligence. The content was later revised by the author for accuracy.

1. Introduction.- 2. Reconfigurable Swarm System Design.- 3. Unit Modality Modeling and Disturbance Rejection Tracking Control.- 4. Unit Modality Formation Control under Nested Motion Saturation.- 5. Unit Modality Coordination Control under EnvironmentalConstraints.

Dr. Tao Jiang received the B.S. degree and Ph.D. degree from School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China, in 2014 and 2020, respectively. He is currently an associate professor in the Institute of Robotics and Intelligent System, Chongqing University, China. His current interests include nonlinear adaptive control, intelligent robust control of ground/aerial robots, and autonomous navigation in unstructured environments.

Dr. Zhi Zheng received the B.S. degree in electronic science and technology from Yuncheng University, China, in 2016, and the M.E. degree in control science and engineering from Harbin Engineering University, China, in 2020. He is currently pursuing the Ph.D. degree with the School of Automation, Chongqing University, Chongqing, China. His research interests include the robust and formation control of intelligent robot systems.

Lan Yao received the B.S. degree in automation from Panzhihua University, China, in 2019, and the M.Eng. degree in control science and engineering from Chongqing University, China, in 2024. Her research interests include robust control of mobile robots and multi-robot control.

Jianchuan Ye received the B.S. and Ph.D. degrees in fight vehicle design from Beijing Institute of Technology, Beijing, China, in 2015 and 2021. He is currently an associate researcher with Beijing Institute of Technology. His main research interests include fight vehicle design, modeling, and control.

Jianxiang Wang received the B.S. degree in electrical engineering and automation from Shandong Jianzhu University, China, in 2024. He is currently pursuing the M.S. degree at the School of Automation, Chongqing University, Chongqing, China. His research interests include nonlinear control, safety control, and distributed cooperative control of multi-agent systems.

Dr. Jingxiang Feng graduated with the B.S. degree in automation from Yanshan University in 2015. In 2018, he received the M.E. degree in naval architecture and ocean engineering from Northwestern Polytechnical University. Since 2018, he has been working at the Jiangsu Automation Research Institute, focusing on marine equipment research. His main research area is command and control of underwater unmanned swarms.