Paper Info
Title
Formation Control of 6-DOF Euler-Lagrange Systems with Restricted Inter-Vehicle Communication
Abstract
In this paper, we consider formation control of Euler-Lagrange systems with motion in six degrees of freedom (6-DOF). In particular, we consider the case where p independent vehicles are expected to satisfy a given, possibly time-varying, formation pattern and where the formation as a whole is expected to track a smooth reference trajectory. To this end, we propose decentralized control laws for each vehicle and show that the formation error dynamics is globally exponentially stable under closed-loop control. The interconnections between the vehicles in the formation are represented using an undirected graph and the independent control laws are designed to provide feedback from any adjacent vehicle
Year
DOI
Venue
2006
10.1109/CDC.2006.377680
San Diego, CA
Keywords
DocType
ISSN
asymptotic stability,closed loop systems,decentralised control,graph theory,multi-robot systems,euler-lagrange systems,closed-loop control,decentralized control laws,formation control,formation pattern,inter-vehicle communication,smooth reference trajectory,time-varying,degree of freedom,decentralized control,satisfiability,closed loop control
Conference
0743-1546
ISBN
Citations 
PageRank 
1-4244-0171-2
1
0.36
References 
Authors
0
2
Name
Order
Citations
PageRank
Even Børhaug1667.97
Kristin Ytterstad Pettersen233433.32