331 research outputs found
Output consensus of nonlinear multi-agent systems with unknown control directions
In this paper, we consider an output consensus problem for a general class of
nonlinear multi-agent systems without a prior knowledge of the agents' control
directions. Two distributed Nussbaumtype control laws are proposed to solve the
leaderless and leader-following adaptive consensus for heterogeneous multiple
agents. Examples and simulations are given to verify their effectivenessComment: 10 pages;2 figure
Synchronization of multiple rigid body systems: a survey
The multi-agent system has been a hot topic in the past few decades owing to
its lower cost, higher robustness, and higher flexibility. As a particular
multi-agent system, the multiple rigid body system received a growing interest
since its wide applications in transportation, aerospace, and ocean
exploration. Due to the non-Euclidean configuration space of attitudes and the
inherent nonlinearity of the dynamics of rigid body systems, synchronization of
multiple rigid body systems is quite challenging. This paper aims to present an
overview of the recent progress in synchronization of multiple rigid body
systems from the view of two fundamental problems. The first problem focuses on
attitude synchronization, while the second one focuses on cooperative motion
control in that rotation and translation dynamics are coupled. Finally, a
summary and future directions are given in the conclusion
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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