Finite-time Optimal Formation Control on Lie Groups

被引：0

作者：

Liu Yongfang ^{[1
]}

Geng Zhiyong ^{[1
]}

机构：

[1] Peking Univ, State Key Lab Turbulence & Complex Syst, Coll Engn, Beijing 100871, Peoples R China

来源：

PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE | 2012年

关键词：

Finite-time Formation; Optimal; Lie Group; Trajectory Tracking; AGENTS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the problem of finite-time optimal formation control for agents evolving on Lie groups SE(2), for the situation when the formation time and/or the cost function need to be considered. The finite-time optimal formation control laws are proposed for the two-agent case. Considering that disturbances exist after the terminal time, the trajectory tracking control law is given to keep the formation. Finally, some numerical examples are given to illustrate the effectiveness of the theoretical results.

引用

页码：715 / 720

页数：6

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