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1、CooperativeControlofDynamicalSystemsZhihuaQuCooperativeControlofDynamicalSystemsApplicationstoAutonomousVehicles123ZhihuaQu,PhDSchoolofElectricalEngineeringandComputerScienceUniversityofCentralFloridaOrlando,FL32816USAISBN978-1-84882-324-2e-ISBN978-1-84882-325-9DOI10.1007/978-1-84882-325-9
2、AcataloguerecordforthisbookisavailablefromtheBritishLibraryLibraryofCongressControlNumber:2008940267©2009Springer-VerlagLondonLimitedApartfromanyfairdealingforthepurposesofresearchorprivatestudy,orcriticismorreview,aspermittedundertheCopyright,DesignsandPatentsAct1988,thispublicationmayonl
3、ybereproduced,storedortransmitted,inanyformorbyanymeans,withthepriorpermissioninwritingofthepublishers,orinthecaseofreprographicreproductioninaccordancewiththetermsoflicencesissuedbytheCopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethosetermsshouldbesenttothepublishers.Theu
4、seofregisterednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantlawsandregulationsandthereforefreeforgeneraluse.Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformationcontainedinth
5、isbookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissionsthatmaybemade.Coverdesign:eStudioCalamarS.L.,Girona,SpainPrintedonacid-freepaper987654321springer.comToXinfanZhangE.VivianQuandM.WillaQuPrefaceStabilitytheoryhasallowedustostudybothqualitativeandquantitativeproper
6、tiesofdynamicalsystems,andcontroltheoryhasplayedakeyroleindesigningnumeroussystems.Contemporarysensingandcommunicationnet-worksenablecollectionandsubscriptionofgeographically-distributedinfor-mationandsuchinformationcanbeusedtoenhancesignificantlytheperfor-manceofmanyofexistingsystems.Throu
7、ghasharedsensing/communicationnetwork,heterogeneoussystemscannowbecontrolledtooperaterobustlyandautonomously;cooperativecontrolistomakethesystemsactasonegroupandexhibitcertaincooperativebehavior,anditmustbepliabletophysicalandenvironmentalconstraintsaswellasbe
