Decentralized consensus control of rigid bodies using exponential coordinates

Mohammad Maadani, Eric A. Butcher, Morad Nazari, Tansel Yucelen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations


In this paper, we propose algorithms for a multi-agent rigid body system for four cases of kinematic and dynamic consensus control of configurations and velocities based on the Laplacian matrix of the communication graph. The configurations of the rigid bodies are described in terms of the exponential coordinates associated with the Lie groups SO(3) and SE(3). The control objective is to stabilize the relative configurations (for kinematic consensus control) or the relative configurations and velocities (for dynamic consensus con-trol). For the control of rigid body pose (attitude and translational dynamics) it is desired for the bodies to obtain a desired formation with attitude synchronization. The design is first conducted on the kinematic level, where the velocities implement the steering control and then the controller is designed on the dynamic level, where the torques and the forces implement the feedback control of pose and velocities. Finally, a decentralized collision avoidance scheme is developed for one of the cases under study. Numerical examples are also provided to demonstrate the efficiency of the studied control laws.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2019 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105784
StatePublished - 2019
EventAIAA Scitech Forum, 2019 - San Diego, United States
Duration: Jan 7 2019Jan 11 2019

Publication series

NameAIAA Scitech 2019 Forum


ConferenceAIAA Scitech Forum, 2019
Country/TerritoryUnited States
CitySan Diego

ASJC Scopus subject areas

  • Aerospace Engineering


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