A set stabilization approach for circular formations of rigid bodies

Author

El-Hawwary, Mohamed I.

Author_Institution

Edward S. Rogers Sr. Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada

fYear

2014

fDate

15-17 Dec. 2014

Firstpage

3234

Lastpage

3239

Abstract

The paper presents a set stabilizing framework for distributed control design to achieve circular formations for rigid bodies in three-dimensional Euclidean space. Information exchange between the rigid bodies is modeled by a directed graph which is assumed to have a spanning tree. Actuation scenarios of fully actuated, degree-one underactuated, and degree-two underactuated rigid bodies are addressed. Control design is based on a hierarchical approach that relies on a reduction principle for asymptotic stability of closed sets.

Keywords

asymptotic stability; control system synthesis; directed graphs; distributed control; set theory; trees (mathematics); actuation scenario; asymptotic stability; circular formations; closed sets; degree-two underactuated rigid bodies; directed graph; distributed control design; fully actuated degree-one underactuated rigid bodies; hierarchical approach; information exchange; reduction principle; set stabilization approach; set stabilizing framework; spanning tree; three-dimensional Euclidean space; Asymptotic stability; Bismuth; Closed loop systems; Control design; Information exchange; Kinematics; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on

Conference_Location

Los Angeles, CA

Print_ISBN

978-1-4799-7746-8

Type

conf

DOI

10.1109/CDC.2014.7039889

Filename

7039889