Pose consensus control of multi-agent rigid body systems with homogenous and heterogeneous communication delays

Mohammad Maadani, Eric A. Butcher

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

A new strategy for full pose and velocity consensus control of multi-agent rigid body systems in the presence of communication delays is presented. Specifically, consensus protocols are proposed for a system of N heterogeneous rigid bodies on the Banach manifold associated with the tangent bundle (Formula presented.), under a fixed and undirected communication topology, where the attitudes of the rigid bodies are described in terms of rotation matrices. The stability argument is strengthened from that used in prior studies by using an extension of Morse–Lyapunov–Krasovskii approach, and sufficient conditions are derived to achieve almost global asymptotic stability of the consensus subspace. Finally, illustrative examples are given to demonstrate the proposed method where both homogenous and heterogeneous communication delays are considered.

Original languageEnglish (US)
JournalInternational Journal of Robust and Nonlinear Control
DOIs
StateAccepted/In press - 2022

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Chemical Engineering(all)
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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