Shape control of a multi-agent system using tensegrity structures

被引：4
作者：
Nabet, Benjamin [1 ]
Leonard, Naomi Ehrich [1 ]
机构：
[1] Princeton Univ, Princeton, NJ 08544 USA
来源：
LAGRANGIAN AND HAMILTONIAN METHODS FOR NONLINEAR CONTROL 2006 | 2007年 / 366卷
关键词：
D O I：
10.1007/978-3-540-73890-9_26
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a new coordinated control law for a group of vehicles in the plane that stabilizes an arbitrary desired group shape. The control law is derived for an arbitrary shape using models of tensegrity structures which are spatial networks of interconnected struts and cables. The symmetries in the coupled system and the energy-momentum method are used to investigate stability of relative equilibria corresponding to steady translations of the prescribed rigid shape.
引用
收藏
页码：329 / +
页数：3
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