Decentralized cooperative tracking subject to motion constraints

doi:10.1016/j.automatica.2018.06.037

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	Decentralized cooperative tracking subject to motion constraints
	Wang, Lin 1,2; Markdahl, Johan 3; Liu, Zhixin4 ; Hu, Xiaoming 5
	2018-10-01
发表期刊	AUTOMATICA
ISSN	0005-1098
卷号	96 页码:121-126
摘要	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. (C) 2018 Elsevier Ltd. All rights reserved,
关键词	Decentralized tracking Formation control Rigidity Motion constraints Attitude control
DOI	10.1016/j.automatica.2018.06.037
语种	英语
资助项目	National Natural Science Foundation of China[61473189] ; National Natural Science Foundation of China[61773255] ; National Natural Science Foundation of China[11688101] ; Natural Science Foundation of Shanghai[17ZR1445200] ; Swedish Research Council[2013-05438]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000444659500012
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/31255
专题	系统科学研究所
通讯作者	Hu, Xiaoming
作者单位	1.Shanghai Jiao Tong Univ, Dept Automat, Shanghai, Peoples R China 2.Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai, Peoples R China 3.Univ Luxembourg, Luxembourg Ctr Syst Biomed, Esch Zur Alzette, Luxembourg 4.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing, Peoples R China 5.Royal Inst Technol, Div Optimizat & Syst, Stockholm, Sweden
推荐引用方式 GB/T 7714	Wang, Lin,Markdahl, Johan,Liu, Zhixin,et al. Decentralized cooperative tracking subject to motion constraints[J]. AUTOMATICA,2018,96:121-126.
APA	Wang, Lin,Markdahl, Johan,Liu, Zhixin,&Hu, Xiaoming.(2018).Decentralized cooperative tracking subject to motion constraints.AUTOMATICA,96,121-126.
MLA	Wang, Lin,et al."Decentralized cooperative tracking subject to motion constraints".AUTOMATICA 96(2018):121-126.