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Decentralized cooperative tracking subject to motion constraints
Wang, Lin1,2; Markdahl, Johan3; Liu, Zhixin4; Hu, Xiaoming5
Source PublicationAUTOMATICA
AbstractThis 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,
KeywordDecentralized tracking Formation control Rigidity Motion constraints Attitude control
Funding ProjectNational 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 Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000444659500012
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Document Type期刊论文
Corresponding AuthorHu, Xiaoming
Affiliation1.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
Recommended Citation
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.
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