Prescribed-Time Consensus Control of Rigid Body Pose

Mohammad Maadani, Eric A. Butcher, Tansel Yucelen, Ehsan Arabi

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

Abstract

This paper investigates the prescribed-time consensus problem of multi-agent rigid body systems using exponential coordinates. Specifically, the control objective is to stabilize the relative pose configurations with velocity synchronization of a multi-agent rigid body system in a user-defined convergence time. Using a time transformation method as well as Lyapunov stability theory, it is shown that the proposed architecture guarantees consensus within this prescribed time. Numerical simulations are also provided to verify the effectiveness of the proposed control method.

Original languageEnglish (US)
Title of host publicationAIAA SciTech Forum 2022
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624106316
DOIs
StatePublished - 2022
Externally publishedYes
EventAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022 - San Diego, United States
Duration: Jan 3 2022Jan 7 2022

Publication series

NameAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022

Conference

ConferenceAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022
Country/TerritoryUnited States
CitySan Diego
Period1/3/221/7/22

ASJC Scopus subject areas

  • Aerospace Engineering

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