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Decentralized cooperative tracking subject to motion constraints
Shanghai Jiao Tong Univ, Dept Automat, Shanghai, Peoples R China.;Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai, Peoples R China..
Univ Luxembourg, Luxembourg Ctr Syst Biomed, Esch Zur Alzette, Luxembourg..
Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing, Peoples R China..
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2018 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 96, p. 121-126Article in journal (Refereed) Published
Abstract [en]

This paper addresses the formation control problem, where three agents are tasked with moving an object cooperatively along a desired trajectory while also adjusting its posture to some desired attitudes, i.e. position and attitude tracking. Two decentralized control laws based on locally available information are proposed. The first control law maintains constant inter-agent distances over time, i.e. the formation of agents moves as a single rigid-body. The second control law relaxes this constraint by only maintaining similarity of the agent formation as a polygon in Euclidean space. 

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2018. Vol. 96, p. 121-126
Keywords [en]
Decentralized tracking, Formation control, Rigidity, Motion constraints, Attitude control
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-235562DOI: 10.1016/j.automatica.2018.06.037ISI: 000444659500012Scopus ID: 2-s2.0-85049475395OAI: oai:DiVA.org:kth-235562DiVA, id: diva2:1252295
Note

QC 20181001

Available from: 2018-10-01 Created: 2018-10-01 Last updated: 2018-10-01Bibliographically approved

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Hu, Xiaoming

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