Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-4289-2866
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2017 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of distance- and orientation-based formationcontrol of a class of second-order nonlinear multi-agent systems in 3D space, under static andundirected communication topologies. More specifically, we design a decentralized model-freecontrol protocol in the sense that each agent uses only local information from its neighbors to calculate its own control signal, without incorporating any knowledge of the model nonlinearities and exogenous disturbances. Moreover, the transient and steady state response is solely determined by certain designer-specified performance functions and is fully decoupled by the agents’ dynamic model, the control gain selection, the underlying graph topology as well asthe initial conditions. Additionally, by introducing certain inter-agent distance constraints, we guarantee collision avoidance and connectivity maintenance between neighboring agents. Finally, simulation results verify the performance of the proposed controllers.

Place, publisher, year, edition, pages
2017.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-211177DOI: 10.1016/j.ifacol.2017.08.2104ISI: 000423965400096OAI: oai:DiVA.org:kth-211177DiVA, id: diva2:1127985
Conference
IFAC 2017 World Congress, Toulouse, France The 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017
Funder
Swedish Research CouncilKnut and Alice Wallenberg FoundationEU, Horizon 2020, 644128
Note

QC 20170811

Available from: 2017-07-20 Created: 2017-07-20 Last updated: 2018-03-14Bibliographically approved

Open Access in DiVA

fulltext(527 kB)18 downloads
File information
File name FULLTEXT01.pdfFile size 527 kBChecksum SHA-512
53dbfc39c69782a99c1d7a6c08648f03bbf64b34e2c28339a6676c9855a309ed42819993b2d9772027d392b605b19cac4d15f58d5f0508afdf8ce9cfc7b78a52
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Nikou, AlexandrosVerginis, ChristosDimarogonas, Dimos
By organisation
Automatic ControlCentre for Autonomous Systems, CAS
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 18 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 54 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf