49,954 research outputs found
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is first formulated. In this formulation, it is shown that motion coordination on a sphere is equivalent to attitude coordination on the 3-dimensional Special Orthogonal group. Then, an angle-based control barrier function that can handle a geodesic distance constraint on a spherical surface is presented. The proposed control barrier function is then extended to a relative motion case and applied to a collision avoidance problem for a rigid body network operating on a sphere. Each rigid body chooses its control input by solving a distributed optimization problem to achieve a nominal distributed motion coordination strategy while satisfying constraints for collision avoidance. The proposed collision-free motion coordination law is validated via simulation
Distributed Adaptive Attitude Synchronization of Multiple Spacecraft
This paper addresses the distributed attitude synchronization problem of
multiple spacecraft with unknown inertia matrices. Two distributed adaptive
controllers are proposed for the cases with and without a virtual leader to
which a time-varying reference attitude is assigned. The first controller
achieves attitude synchronization for a group of spacecraft with a leaderless
communication topology having a directed spanning tree. The second controller
guarantees that all spacecraft track the reference attitude if the virtual
leader has a directed path to all other spacecraft. Simulation examples are
presented to illustrate the effectiveness of the results.Comment: 13 pages, 11 figures. To appear in SCIENCE CHINA Technological
Science
Intrinsic Reduced Attitude Formation with Ring Inter-Agent Graph
This paper investigates the reduced attitude formation control problem for a
group of rigid-body agents using feedback based on relative attitude
information. Under both undirected and directed cycle graph topologies, it is
shown that reversing the sign of a classic consensus protocol yields
asymptotical convergence to formations whose shape depends on the parity of the
group size. Specifically, in the case of even parity the reduced attitudes
converge asymptotically to a pair of antipodal points and distribute
equidistantly on a great circle in the case of odd parity. Moreover, when the
inter-agent graph is an undirected ring, the desired formation is shown to be
achieved from almost all initial states
Mobile Formation Coordination and Tracking Control for Multiple Non-holonomic Vehicles
This paper addresses forward motion control for trajectory tracking and
mobile formation coordination for a group of non-holonomic vehicles on SE(2).
Firstly, by constructing an intermediate attitude variable which involves
vehicles' position information and desired attitude, the translational and
rotational control inputs are designed in two stages to solve the trajectory
tracking problem. Secondly, the coordination relationships of relative
positions and headings are explored thoroughly for a group of non-holonomic
vehicles to maintain a mobile formation with rigid body motion constraints. We
prove that, except for the cases of parallel formation and translational
straight line formation, a mobile formation with strict rigid-body motion can
be achieved if and only if the ratios of linear speed to angular speed for each
individual vehicle are constants. Motion properties for mobile formation with
weak rigid-body motion are also demonstrated. Thereafter, based on the proposed
trajectory tracking approach, a distributed mobile formation control law is
designed under a directed tree graph. The performance of the proposed
controllers is validated by both numerical simulations and experiments
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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