Title :
Configuration consensus of two underactuated planar rigid bodies
Author :
Hutagalung, Maclaurin ; Hayakawa, Tomohisa ; Urakubo, Takateru
Author_Institution :
Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Tokyo, Japan
Abstract :
A consensus control framework for configuration of multiple underactuated planar rigid bodies is developed. Following the results by Bullo et al. (2000), we propose a control law that achieves asymptotic consensus between the planar rigid bodies. Finally, we present a numerical example to show efficacy of the proposed approach.
Keywords :
asymptotic stability; time-varying systems; asymptotic consensus; consensus control; multiple underactuated planar rigid bodies; Backstepping; Error correction; Feedback control; Informatics; Parametric statistics; Stability; Trajectory; Uncertainty; Vehicles; Velocity control;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739305
