Consensus Control of a Multi-Agent Rigid Body System on TSO(3)N and TSE(3)N

Eric A. Butcher, Mohammad Maadani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

Nonlinear control laws are proposed for consensus control of a multi-agent system of N heterogeneous rigid bodies in the framework of the tangent bundles TSO (3) and TSE (3) associated with Lie groups SO (3) and SE (3). The control objective is to stabilize the relative pose configurations with velocity synchronization of the rigid bodies which share their states according to a static communication topology. The feedback control design is conducted on the dynamic level in which masses and inertias are not negligible and uses the rotation matrix as opposed to various attitude parameterizations. Almost global asymptotic stability of the consensus subspace is demonstrated both analytically and through numerical simulations.

Original languageEnglish (US)
Title of host publication2019 6th Indian Control Conference, ICC 2019 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages98-103
Number of pages6
ISBN (Electronic)9781728138602
DOIs
StatePublished - Dec 2019
Event6th Indian Control Conference, ICC 2019 - Hyderabad, India
Duration: Dec 18 2019Dec 20 2019

Publication series

Name2019 6th Indian Control Conference, ICC 2019 - Proceedings

Conference

Conference6th Indian Control Conference, ICC 2019
Country/TerritoryIndia
CityHyderabad
Period12/18/1912/20/19

ASJC Scopus subject areas

  • Strategy and Management
  • Mechanical Engineering
  • Control and Optimization

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