• DocumentCode
    2253179
  • 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
  • fYear
    2008
  • fDate
    9-11 Dec. 2008
  • Firstpage
    5016
  • Lastpage
    5021
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
  • Conference_Location
    Cancun
  • ISSN
    0191-2216
  • Print_ISBN
    978-1-4244-3123-6
  • Electronic_ISBN
    0191-2216
  • Type

    conf

  • DOI
    10.1109/CDC.2008.4739305
  • Filename
    4739305
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2253179