Abstract
In this paper, we propose algorithms for a multi-agent rigid body system for four cases of kinematic and dynamic consensus control of configurations and velocities based on the Laplacian matrix of the communication graph. The configurations of the rigid bodies are described in terms of the exponential coordinates associated with the Lie groups SO(3) and SE(3). The control objective is to stabilize the relative configurations (for kinematic consensus control) or the relative configurations and velocities (for dynamic consensus con-trol). For the control of rigid body pose (attitude and translational dynamics) it is desired for the bodies to obtain a desired formation with attitude synchronization. The design is first conducted on the kinematic level, where the velocities implement the steering control and then the controller is designed on the dynamic level, where the torques and the forces implement the feedback control of pose and velocities. Finally, a decentralized collision avoidance scheme is developed for one of the cases under study. Numerical examples are also provided to demonstrate the efficiency of the studied control laws.
| Original language | English (US) |
|---|---|
| Title of host publication | AIAA Scitech 2019 Forum |
| Publisher | American Institute of Aeronautics and Astronautics Inc, AIAA |
| ISBN (Print) | 9781624105784 |
| DOIs | |
| State | Published - Jan 1 2019 |
| Event | AIAA Scitech Forum, 2019 - San Diego, United States Duration: Jan 7 2019 → Jan 11 2019 |
Publication series
| Name | AIAA Scitech 2019 Forum |
|---|
Conference
| Conference | AIAA Scitech Forum, 2019 |
|---|---|
| Country | United States |
| City | San Diego |
| Period | 1/7/19 → 1/11/19 |
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ASJC Scopus subject areas
- Aerospace Engineering
Cite this
Decentralized consensus control of rigid bodies using exponential coordinates⋆. / Maadani, Mohammad; Butcher, Eric; Nazari, Morad; Yucelen, Tansel.
AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, 2019. (AIAA Scitech 2019 Forum).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Decentralized consensus control of rigid bodies using exponential coordinates⋆
AU - Maadani, Mohammad
AU - Butcher, Eric
AU - Nazari, Morad
AU - Yucelen, Tansel
PY - 2019/1/1
Y1 - 2019/1/1
N2 - In this paper, we propose algorithms for a multi-agent rigid body system for four cases of kinematic and dynamic consensus control of configurations and velocities based on the Laplacian matrix of the communication graph. The configurations of the rigid bodies are described in terms of the exponential coordinates associated with the Lie groups SO(3) and SE(3). The control objective is to stabilize the relative configurations (for kinematic consensus control) or the relative configurations and velocities (for dynamic consensus con-trol). For the control of rigid body pose (attitude and translational dynamics) it is desired for the bodies to obtain a desired formation with attitude synchronization. The design is first conducted on the kinematic level, where the velocities implement the steering control and then the controller is designed on the dynamic level, where the torques and the forces implement the feedback control of pose and velocities. Finally, a decentralized collision avoidance scheme is developed for one of the cases under study. Numerical examples are also provided to demonstrate the efficiency of the studied control laws.
AB - In this paper, we propose algorithms for a multi-agent rigid body system for four cases of kinematic and dynamic consensus control of configurations and velocities based on the Laplacian matrix of the communication graph. The configurations of the rigid bodies are described in terms of the exponential coordinates associated with the Lie groups SO(3) and SE(3). The control objective is to stabilize the relative configurations (for kinematic consensus control) or the relative configurations and velocities (for dynamic consensus con-trol). For the control of rigid body pose (attitude and translational dynamics) it is desired for the bodies to obtain a desired formation with attitude synchronization. The design is first conducted on the kinematic level, where the velocities implement the steering control and then the controller is designed on the dynamic level, where the torques and the forces implement the feedback control of pose and velocities. Finally, a decentralized collision avoidance scheme is developed for one of the cases under study. Numerical examples are also provided to demonstrate the efficiency of the studied control laws.
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UR - http://www.scopus.com/inward/citedby.url?scp=85068463890&partnerID=8YFLogxK
U2 - 10.2514/6.2019-1161
DO - 10.2514/6.2019-1161
M3 - Conference contribution
AN - SCOPUS:85068463890
SN - 9781624105784
T3 - AIAA Scitech 2019 Forum
BT - AIAA Scitech 2019 Forum
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
ER -