Consensus based formation control laws for systems on Lie groups

被引：34
|
作者：
Dong, Runsha [1 ]
Geng, Zhiyong [1 ]
机构：
[1] Peking Univ, State Key Lab Turbulence & Complex Syst, Dept Mech & Aerosp Engn, Beijing 100871, Peoples R China
来源：
SYSTEMS & CONTROL LETTERS | 2013年 / 62卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Lie groups; Formation control; Consensus based approach;
D O I：
10.1016/j.sysconle.2012.11.005
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 designs the consensus based formation control laws for multi-agent systems defined on Lie groups. The specific results are illustrated on SE(2) and SE(3) (the special Euclidean groups of rigid body motions and each of which shares the geometric structure of a Lie group). The paper develops the control laws for the problem concerned under the assumption that the communication topologies of the multi-agent systems are spanning-tree-shaped, ring-shaped and complete, respectively. At last, several examples are included in the numerical simulations to verify the theoretical results. (c) 2012 Elsevier B.V. All rights reserved.
引用
收藏
页码：104 / 111
页数：8
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