Consensus Control of a Multi-Agent Rigid Body System on TSO(3)N and TSE(3)N

Eric A. Butcher; Mohammad Maadani

doi:10.1109/ICC47138.2019.9123241

Consensus Control of a Multi-Agent Rigid Body System on TSO(3)^N and TSE(3)^N

Eric A. Butcher, Mohammad Maadani

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 Scopus citations

Abstract

Nonlinear control laws are proposed for consensus control of a multi-agent system of N heterogeneous rigid bodies in the framework of the tangent bundles TSO (3) and TSE (3) associated with Lie groups SO (3) and SE (3). The control objective is to stabilize the relative pose configurations with velocity synchronization of the rigid bodies which share their states according to a static communication topology. The feedback control design is conducted on the dynamic level in which masses and inertias are not negligible and uses the rotation matrix as opposed to various attitude parameterizations. Almost global asymptotic stability of the consensus subspace is demonstrated both analytically and through numerical simulations.

Original language	English (US)
Title of host publication	2019 6th Indian Control Conference, ICC 2019 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	98-103
Number of pages	6
ISBN (Electronic)	9781728138602
DOIs	https://doi.org/10.1109/ICC47138.2019.9123241
State	Published - Dec 2019
Event	6th Indian Control Conference, ICC 2019 - Hyderabad, India Duration: Dec 18 2019 → Dec 20 2019

Publication series

Name	2019 6th Indian Control Conference, ICC 2019 - Proceedings

Conference

Conference	6th Indian Control Conference, ICC 2019
Country/Territory	India
City	Hyderabad
Period	12/18/19 → 12/20/19

ASJC Scopus subject areas

Strategy and Management
Mechanical Engineering
Control and Optimization

Access to Document

10.1109/ICC47138.2019.9123241

Cite this

Butcher, E. A., & Maadani, M. (2019). Consensus Control of a Multi-Agent Rigid Body System on TSO(3)^N and TSE(3)^N. In 2019 6th Indian Control Conference, ICC 2019 - Proceedings (pp. 98-103). Article 9123241 (2019 6th Indian Control Conference, ICC 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICC47138.2019.9123241

Consensus Control of a Multi-Agent Rigid Body System on TSO(3)^N and TSE(3)^N. / Butcher, Eric A.; Maadani, Mohammad.
2019 6th Indian Control Conference, ICC 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. p. 98-103 9123241 (2019 6th Indian Control Conference, ICC 2019 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Butcher, EA & Maadani, M 2019, Consensus Control of a Multi-Agent Rigid Body System on TSO(3)^N and TSE(3)^N. in 2019 6th Indian Control Conference, ICC 2019 - Proceedings., 9123241, 2019 6th Indian Control Conference, ICC 2019 - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 98-103, 6th Indian Control Conference, ICC 2019, Hyderabad, India, 12/18/19. https://doi.org/10.1109/ICC47138.2019.9123241

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