Passivity-Based Pose Synchronization in Three Dimensions

被引：71

作者：

Hatanaka, Takeshi ^{[1
]}

Igarashi, Yuji ^{[2
]}

Fujita, Masayuki ^{[1
]}

Spong, Mark W. ^{[3
]}

机构：

[1] Tokyo Inst Technol, Dept Mech & Control Engn, Tokyo 1528550, Japan

[2] Mitsubishi Elect Cooperat, Adv Technol R&D Ctr, Amagasaki, Hyogo 6618661, Japan

[3] Univ Texas Dallas, Erik Jonsson Sch Engn & Comp Sci, Dallas, TX 75080 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2012年 / 57卷 / 02期

关键词：

Cooperative control; passivity-based control; synchronization; PLANAR COLLECTIVE MOTION; COOPERATIVE CONTROL; COVERAGE CONTROL; SENSOR NETWORKS; FLOCKING; STABILIZATION; STABILITY; SYSTEMS; COORDINATION; AGENTS;

D O I：

10.1109/TAC.2011.2166668

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 addresses passivity-based pose synchronization in the Special Euclidean group SE(3). We first develop a passivity-based distributed velocity input law to achieve pose synchronization. We next show that the pose synchronizes exponentially fast under an assumption on the initial states of the bodies, with an exponential convergence rate given by algebraic connectivity of interconnection graphs. We also prove pose synchronization in the presence of communication delays and topology switches. We moreover give further extensions of the present law, where desirable velocities and collision avoidance are taken into account. Finally, the effectiveness of the present inputs is demonstrated through numerical simulations and experiments on a planar (2D) test bed.

引用

页码：360 / 375

页数：16