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Distributed attitude control of multi-agent formations
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. Department of Automation, Shanghai Jiao Tong University, China .
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2011 (English)In: IFAC Proceedings Volumes: (IFAC-PapersOnline), 2011, no PART 1, 4513-4518 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of how to coordinate the spatial motion of individual agents in a multi-agent system in such a way that the distance between any two agents is maintained at a constant value (but not stabilized) throughout the evolution of the system while simultaneously rotating the formation of agents to a pre-set reference attitude. We propose a distributed control law based on locally available information. The stability of the proposed control law is analyzed using Lyapunov theory in the special case of three agents. The region of attraction is found to encompass the entire statespace, save a single point. A generalization to the case of n agents is performed using the theory of rigid graphs. The geometric underpinnings of these ideas are illustrated by simulation.

Place, publisher, year, edition, pages
2011. no PART 1, 4513-4518 p.
Series
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 18
Keyword [en]
Formation control, Graph theory, Multi-agent systems, Rigid body kinematics, Control laws, Distributed control law, Lyapunov theories, Multi agent system (MAS), Region of attraction, Single point, Spatial motions, State-space, Attitude control, Multi agent systems
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-149800DOI: 10.3182/20110828-6-IT-1002.02609Scopus ID: 2-s2.0-84866772031ISBN: 9783902661937 (print)OAI: oai:DiVA.org:kth-149800DiVA: diva2:741330
Conference
18th IFAC World Congress; Milano, Italy, 28 August - 2 September, 2011
Note

QC 20140827

Available from: 2014-08-27 Created: 2014-08-27 Last updated: 2016-12-23Bibliographically approved

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Hu, Xiaoming

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CiteExportLink to record
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Citation style
  • apa
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