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Coordination of multiple rigid bodies under distance-induced interaction topologies
Chinese Acad Sci, Acad Math & Syst Sci, LSC, Beijing 100190, Peoples R China.;Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China..
Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China.;Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China..
Chinese Acad Sci, Acad Math & Syst Sci, LSC, Beijing 100190, Peoples R China.;Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China..
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2018 (English)In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 12, no 15, p. 2067-2075Article in journal (Refereed) Published
Abstract [en]

This study considers the coordination control problem of a group of moving rigid bodies. Each rigid body communicates with other bodies via the distance-induced neighbour graphs. The authors design the distributed control laws for the angular velocity and linear velocity of rigid bodies, and establish sufficient conditions without relying on the dynamical properties of neighbour graphs, to guarantee that the rigid bodies reach the attitude synchronisation and avoid collision with nearby bodies while the communication networks keep connected. Moreover, they introduce a leader into the system to guide all rigid bodies to the desired attitude. Simulation examples are given to illustrate the authors' results.

Place, publisher, year, edition, pages
INST ENGINEERING TECHNOLOGY-IET , 2018. Vol. 12, no 15, p. 2067-2075
Keywords [en]
synchronisation, control system synthesis, graph theory, attitude control, distributed control, multi-robot systems, collision avoidance, velocity control, mobile robots, multiple rigid bodies, distance-induced interaction topologies, coordination control problem, distance-induced neighbour graphs, nearby bodies, angular velocity, linear velocity, attitude synchronisation
National Category
Mathematics
Identifiers
URN: urn:nbn:se:kth:diva-235555DOI: 10.1049/iet-cta.2017.1426ISI: 000445062500007Scopus ID: 2-s2.0-85053688034OAI: oai:DiVA.org:kth-235555DiVA, id: diva2:1252510
Note

QC 20181002

Available from: 2018-10-02 Created: 2018-10-02 Last updated: 2018-10-02Bibliographically approved

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