PID Pose Consensus Control of a Multi-Agent Rigid Body System using Exponential Coordinates

Mohammad Maadani, Eric A. Butcher

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

Abstract

In this paper, PID consensus control problem of a multi-agent rigid body system is studied. To this end, exponential coordinates associated with the Lie group SE(3) are used to represent the 6-DOF motion of the rigid bodies. Specifically, the control objective is to stabilize the relative pose configurations with synchronization of the velocities and integral feedback terms of the rigid bodies. 6-DOF exponential coordinates can be viewed as embedded subset of R6, allowing us to design and analyze the methods such as PID control method that are suited to the Euclidean spaces. It is shown that the consensus is achieved under the presence of unmodelled external torques and forces.

Original languageEnglish (US)
Title of host publicationAIAA SciTech Forum 2022
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624106316
DOIs
StatePublished - 2022
Externally publishedYes
EventAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022 - San Diego, United States
Duration: Jan 3 2022Jan 7 2022

Publication series

NameAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022

Conference

ConferenceAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022
Country/TerritoryUnited States
CitySan Diego
Period1/3/221/7/22

ASJC Scopus subject areas

  • Aerospace Engineering

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