19,217 research outputs found
Asymptotic and finite-time almost global attitude tracking: representations free approach
In this paper, the attitude tracking problem is considered using the rotation
matrices. Due to the inherent topological restriction, it is impossible to
achieve global attractivity with any continuous attitude control system on
. Hence in this work, we propose some control protocols achieve almost
global tracking asymptotically and in finite time, respectively. In these
protocols, no world frame is needed and only relative state informations are
requested. For finite-time tracking case, Filippov solutions and non-smooth
analysis techniques are adopted to handle the discontinuities. Simulation
examples are provided to verify the performances of the control protocols
designed in this paper.Comment: arXiv admin note: text overlap with arXiv:1705.0282
Formation Shape Control Based on Distance Measurements Using Lie Bracket Approximations
We study the problem of distance-based formation control in autonomous
multi-agent systems in which only distance measurements are available. This
means that the target formations as well as the sensed variables are both
determined by distances. We propose a fully distributed distance-only control
law, which requires neither a time synchronization of the agents nor storage of
measured data. The approach is applicable to point agents in the Euclidean
space of arbitrary dimension. Under the assumption of infinitesimal rigidity of
the target formations, we show that the proposed control law induces local
uniform asymptotic stability. Our approach involves sinusoidal perturbations in
order to extract information about the negative gradient direction of each
agent's local potential function. An averaging analysis reveals that the
gradient information originates from an approximation of Lie brackets of
certain vector fields. The method is based on a recently introduced approach to
the problem of extremum seeking control. We discuss the relation in the paper
A Discrete Geometric Optimal Control Framework for Systems with Symmetries
This paper studies the optimal motion control of
mechanical systems through a discrete geometric approach. At
the core of our formulation is a discrete Lagrange-d’Alembert-
Pontryagin variational principle, from which are derived discrete
equations of motion that serve as constraints in our optimization
framework. We apply this discrete mechanical approach to
holonomic systems with symmetries and, as a result, geometric
structure and motion invariants are preserved. We illustrate our
method by computing optimal trajectories for a simple model of
an air vehicle flying through a digital terrain elevation map, and
point out some of the numerical benefits that ensue
Distributed Consensus of Linear Multi-Agent Systems with Adaptive Dynamic Protocols
This paper considers the distributed consensus problem of multi-agent systems
with general continuous-time linear dynamics. Two distributed adaptive dynamic
consensus protocols are proposed, based on the relative output information of
neighboring agents. One protocol assigns an adaptive coupling weight to each
edge in the communication graph while the other uses an adaptive coupling
weight for each node. These two adaptive protocols are designed to ensure that
consensus is reached in a fully distributed fashion for any undirected
connected communication graphs without using any global information. A
sufficient condition for the existence of these adaptive protocols is that each
agent is stabilizable and detectable. The cases with leader-follower and
switching communication graphs are also studied.Comment: 17 pages, 5 figue
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