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Coordination of multiple rigid bodies under distance-induced interaction topologies
Deng, Juan1,2; Wang, Lin3,4; Liu, Zhixin1,2; Hu, Xiaoming5
AbstractThis 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.
Keywordsynchronisation 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
Funding ProjectNational Natural Science Foundation of China[11688101] ; National Natural Science Foundation of China[61621003] ; National Key Basic Research Program of China (973 program)[2014CB845302]
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000445062500007
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Document Type期刊论文
Corresponding AuthorLiu, Zhixin
Affiliation1.Chinese Acad Sci, Acad Math & Syst Sci, LSC, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
3.Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
4.Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China
5.KTH Royal Inst Technol, Optimizat & Syst Theory, S-10044 Stockholm, Sweden
Recommended Citation
GB/T 7714
Deng, Juan,Wang, Lin,Liu, Zhixin,et al. Coordination of multiple rigid bodies under distance-induced interaction topologies[J]. IET CONTROL THEORY AND APPLICATIONS,2018,12(15):2067-2075.
APA Deng, Juan,Wang, Lin,Liu, Zhixin,&Hu, Xiaoming.(2018).Coordination of multiple rigid bodies under distance-induced interaction topologies.IET CONTROL THEORY AND APPLICATIONS,12(15),2067-2075.
MLA Deng, Juan,et al."Coordination of multiple rigid bodies under distance-induced interaction topologies".IET CONTROL THEORY AND APPLICATIONS 12.15(2018):2067-2075.
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