DocumentCode
581631
Title
Finite-time optimal formation control on Lie groups
Author
Yongfang, Liu ; Zhiyong, Geng
Author_Institution
State Key Lab. for Turbulence & Complex Syst., Peking Univ., Beijing, China
fYear
2012
fDate
25-27 July 2012
Firstpage
715
Lastpage
720
Abstract
This paper studies the problem of finite-time optimal formation control for agents evolving on Lie groups SE(2), for the situation when the formation time and/or the cost function need to be considered. The finite-time optimal formation control laws are proposed for the two-agent case. Considering that disturbances exist after the terminal time, the trajectory tracking control law is given to keep the formation. Finally, some numerical examples are given to illustrate the effectiveness of the theoretical results.
Keywords
Lie groups; multi-agent systems; optimal control; tracking; trajectory control; Lie group; agent; cost function; finite-time optimal formation control law; trajectory tracking control law; Aerospace electronics; Cost function; Manifolds; Optimal control; Satellites; Trajectory; Finite-time Formation; Lie Group; Optimal; Trajectory Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2012 31st Chinese
Conference_Location
Hefei
ISSN
1934-1768
Print_ISBN
978-1-4673-2581-3
Type
conf
Filename
6390019
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