Coordination of multiple rigid bodies under distance-induced interaction topologies

doi:10.1049/iet-cta.2017.1426

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	Coordination of multiple rigid bodies under distance-induced interaction topologies
	Deng, Juan 1,2; Wang, Lin 3,4; Liu, Zhixin1,2 ; Hu, Xiaoming 5
刊名	IET CONTROL THEORY AND APPLICATIONS
	2018-10-16
卷号	12 期号:15 页码:2067-2075
关键词	synchronisation control system synthesis graph theory attitude control distributed control multi-robot systems collision avoidance velocity control mobile robots multiple rigid bodies distance-induced interaction topologies coordination control problem distance-induced neighbour graphs nearby bodies angular velocity linear velocity attitude synchronisation
ISSN号	1751-8644
DOI	10.1049/iet-cta.2017.1426
英文摘要	This study considers the coordination control problem of a group of moving rigid bodies. Each rigid body communicates with other bodies via the distance-induced neighbour graphs. The authors design the distributed control laws for the angular velocity and linear velocity of rigid bodies, and establish sufficient conditions without relying on the dynamical properties of neighbour graphs, to guarantee that the rigid bodies reach the attitude synchronisation and avoid collision with nearby bodies while the communication networks keep connected. Moreover, they introduce a leader into the system to guide all rigid bodies to the desired attitude. Simulation examples are given to illustrate the authors' results.
资助项目	National Natural Science Foundation of China[11688101] ; National Natural Science Foundation of China[61621003] ; National Key Basic Research Program of China (973 program)[2014CB845302]
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	INST ENGINEERING TECHNOLOGY-IET
WOS记录号	WOS:000445062500007
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/31240]
专题	系统科学研究所
通讯作者	Liu, Zhixin
作者单位	1.Chinese Acad Sci, Acad Math & Syst Sci, LSC, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China 3.Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China 4.Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China 5.KTH Royal Inst Technol, Optimizat & Syst Theory, S-10044 Stockholm, Sweden
推荐引用方式 GB/T 7714	Deng, Juan,Wang, Lin,Liu, Zhixin,et al. Coordination of multiple rigid bodies under distance-induced interaction topologies[J]. IET CONTROL THEORY AND APPLICATIONS,2018,12(15):2067-2075.
APA	Deng, Juan,Wang, Lin,Liu, Zhixin,&Hu, Xiaoming.(2018).Coordination of multiple rigid bodies under distance-induced interaction topologies.IET CONTROL THEORY AND APPLICATIONS,12(15),2067-2075.
MLA	Deng, Juan,et al."Coordination of multiple rigid bodies under distance-induced interaction topologies".IET CONTROL THEORY AND APPLICATIONS 12.15(2018):2067-2075.