Passivity-based output synchronization and flocking algorithm in SE(3)

This paper addresses passivity-based output synchronization and a collision avoidance problem of rigid bodies in the special Euclidean group SE(3) under the assumption that the rigid bodies exchange information over weighted digraphs. We first develop a passivity-based distributed velocity input law...

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Bibliographic Details
Published in2008 47th IEEE Conference on Decision and Control pp. 1024 - 1029
Main Authors Yuji Igarashi, Hatanaka, T., Fujita, M., Spong, M.W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.01.2008
Subjects
Collision avoidance
Communication system control
Control systems
Convergence
Motion control
Numerical simulation
Robot control
Robot kinematics
Robot sensing systems
Satellites
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ISBN9781424431236
1424431239
ISSN0191-2216
DOI10.1109/CDC.2008.4739009

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Summary:This paper addresses passivity-based output synchronization and a collision avoidance problem of rigid bodies in the special Euclidean group SE(3) under the assumption that the rigid bodies exchange information over weighted digraphs. We first develop a passivity-based distributed velocity input law to achieve output synchronization. Using the notion of algebraic connectivity, we then establish a connection between the speed of convergence and the structure of the interconnection graph in SE(3). We also prove output synchronization in the presence of temporary communication failures. We next develop a flocking algorithm by modifying the present velocity input so that it embodies cohesion, separation and alignment rules introduced by Reynolds. Finally, we demonstrate the effectiveness of the present input through numerical simulations.
ISBN:9781424431236
1424431239
ISSN:0191-2216
DOI:10.1109/CDC.2008.4739009