2,453 research outputs found
Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators
This paper presents a solution based on dual quaternion algebra to the
general problem of pose (i.e., position and orientation) consensus for systems
composed of multiple rigid-bodies. The dual quaternion algebra is used to model
the agents' poses and also in the distributed control laws, making the proposed
technique easily applicable to time-varying formation control of general
robotic systems. The proposed pose consensus protocol has guaranteed
convergence when the interaction among the agents is represented by directed
graphs with directed spanning trees, which is a more general result when
compared to the literature on formation control. In order to illustrate the
proposed pose consensus protocol and its extension to the problem of formation
control, we present a numerical simulation with a large number of free-flying
agents and also an application of cooperative manipulation by using real mobile
manipulators
Similarity Decomposition Approach to Oscillatory Synchronization for Multiple Mechanical Systems With a Virtual Leader
This paper addresses the oscillatory synchronization problem for multiple
uncertain mechanical systems with a virtual leader, and the interaction
topology among them is assumed to contain a directed spanning tree. We propose
an adaptive control scheme to achieve the goal of oscillatory synchronization.
Using the similarity decomposition approach, we show that the position and
velocity synchronization errors between each mechanical system (or follower)
and the virtual leader converge to zero. The performance of the proposed
adaptive scheme is shown by numerical simulation results.Comment: 15 pages, 3 figures, published in 2014 Chinese Control Conferenc
Fully Distributed Adaptive Controllers for Cooperative Output Regulation of Heterogeneous Linear Multi-agent Systems with Directed Graphs
This paper considers the cooperative output regulation problem for linear
multi-agent systems with a directed communication graph, heterogeneous linear
subsystems, and an exosystem whose output is available to only a subset of
subsystems. Both the cases with nominal and uncertain linear subsystems are
studied. For the case with nominal linear subsystems, a distributed adaptive
observer-based controller is designed, where the distributed adaptive observer
is implemented for the subsystems to estimate the exogenous signal. For the
case with uncertain linear subsystems, the proposed distributed observer and
the internal model principle are combined to solve the robust cooperative
output regulation problem. Compared with the existing works, one main
contribution of this paper is that the proposed control schemes can be designed
and implemented by each subsystem in a fully distributed fashion for general
directed graphs. For the special case with undirected graphs, a distributed
output feedback control law is further presented.Comment: 8 pages, 2 figures. submitted for publicatio
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