14,973 research outputs found
Designing Fully Distributed Consensus Protocols for Linear Multi-agent Systems with Directed Graphs
This paper addresses the distributed consensus protocol design problem for
multi-agent systems with general linear dynamics and directed communication
graphs. Existing works usually design consensus protocols using the smallest
real part of the nonzero eigenvalues of the Laplacian matrix associated with
the communication graph, which however is global information. In this paper,
based on only the agent dynamics and the relative states of neighboring agents,
a distributed adaptive consensus protocol is designed to achieve
leader-follower consensus for any communication graph containing a directed
spanning tree with the leader as the root node. The proposed adaptive protocol
is independent of any global information of the communication graph and thereby
is fully distributed. Extensions to the case with multiple leaders are further
studied.Comment: 16 page, 3 figures. To appear in IEEE Transactions on Automatic
Contro
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
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