945 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
Partial containment control over signed graphs
In this paper, we deal with the containment control problem in presence of
antagonistic interactions. In particular, we focus on the cases in which it is
not possible to contain the entire network due to a constrained number of
control signals. In this scenario, we study the problem of selecting the nodes
where control signals have to be injected to maximize the number of contained
nodes. Leveraging graph condensations, we find a suboptimal and computationally
efficient solution to this problem, which can be implemented by solving an
integer linear problem. The effectiveness of the selection strategy is
illustrated through representative simulations.Comment: 6 pages, 3 figures, accepted for presentation at the 2019 European
Control Conference (ECC19), Naples, Ital
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