Decentralized cooperative tracking subject to motion constraints

This paper addresses the formation control problem, where three agents are tasked with moving an object cooperatively along a desired trajectory while also adjusting its posture to some desired attitudes, i.e. position and attitude tracking. Two decentralized control laws based on locally available...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 96; pp. 121 - 126
Main Authors Wang, Lin, Markdahl, Johan, Liu, Zhixin, Hu, Xiaoming
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.10.2018
Subjects
Attitude control
Decentralized tracking
Formation control
Motion constraints
Rigidity
Formation control
Motion constraints
Attitude control
Rigidity
Decentralized tracking
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ISSN0005-1098
1873-2836
1873-2836
DOI10.1016/j.automatica.2018.06.037

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Summary:This paper addresses the formation control problem, where three agents are tasked with moving an object cooperatively along a desired trajectory while also adjusting its posture to some desired attitudes, i.e. position and attitude tracking. Two decentralized control laws based on locally available information are proposed. The first control law maintains constant inter-agent distances over time, i.e. the formation of agents moves as a single rigid-body. The second control law relaxes this constraint by only maintaining similarity of the agent formation as a polygon in Euclidean space.
ISSN:0005-1098
1873-2836
1873-2836
DOI:10.1016/j.automatica.2018.06.037