Passivity-based Output Synchronization and Flocking Algorithm in SE(3)

被引:4
|
作者
Igarashi, Yuji [1 ]
Hatanaka, Takeshi [1 ]
Fujita, Masayuki [1 ]
Spong, Mark W. [2 ]
机构
[1] Tokyo Inst Technol, Dept Mech & Control Engn, Tokyo 1528552, Japan
[2] Univ Illinois, Dept Elect & Comp Engn, Coordinated Sci Lab, Urbana, IL 61801 USA
来源
47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年
基金
美国国家科学基金会;
关键词
D O I
10.1109/CDC.2008.4739009
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper addresses passivity-based output synchronization and a collision avoidance problem of rigid bodies in the Special Euclidean group SE(3) under the assumption that the rigid bodies exchange information over weighted digraphs. We first develop a passivity-based distributed velocity input law to achieve output synchronization. Using the notion of algebraic connectivity, we then establish a connection between the speed of convergence and the structure of the interconnection graph in SE(3). We also prove output synchronization in the presence of temporary communication failures. We next develop a flocking algorithm by modifying the present velocity input so that it embodies cohesion, separation and alignment rules introduced by Reynolds. Finally, we demonstrate the effectiveness of the present input through numerical simulations.
引用
收藏
页码:1024 / 1029
页数:6
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