Consensus and formation control on SE(3) for switching topologies
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Publication:254553
DOI10.1016/J.AUTOMATICA.2015.12.035zbMATH Open1335.93014arXiv1511.00240OpenAlexW2964014270MaRDI QIDQ254553FDOQ254553
Authors: Johan Thunberg, Jorge Goncalves, Xiaoming Hu 
Publication date: 8 March 2016
Published in: Automatica (Search for Journal in Brave)
Abstract: This paper addresses the consensus problem and the formation problem on SE(3) in multi-agent systems with directed and switching interconnection topologies. Several control laws are introduced for the consensus problem. By a simple transformation, it is shown that the proposed control laws can be used for the formation problem. The design is first conducted on the kinematic level, where the velocities are the control laws. Then, for rigid bodies in space, the design is conducted on the dynamic level, where the torques and the forces are the control laws. On the kinematic level, first two control laws are introduced that explicitly use Euclidean transformations, then separate control laws are defined for the rotations and the translations. In the special case of purely rotational motion, the consensus problem is referred to as consensus on SO(3) or attitude synchronization. In this problem, for a broad class of local representations or parameterizations of SO(3), including the Axis-Angle Representation, the Rodrigues Parameters and the Modified Rodrigues Parameters, two types of control laws are presented that look structurally the same for any choice of local representation. For these two control laws we provide conditions on the initial rotations and the connectivity of the graph such that the system reaches consensus on SO(3). Among the contributions of this paper, there are conditions for when exponential rate of convergence occur. A theorem is provided showing that for any choice of local representation for the rotations, there is a change of coordinates such that the transformed system has a well known structure.
Full work available at URL: https://arxiv.org/abs/1511.00240
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Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Applications of graph theory to circuits and networks (94C15)
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Cited In (20)
- Synchronization of multiple rigid body systems: a survey
- Consensus on SO(3) with piecewise-continuous sinusoids
- Dynamic controllers for column synchronization of rotation matrices: a QR-factorization approach
- Consensus for formation control of multi-agent systems
- Distributed attitude synchronization control of multi-agent systems with switching topologies
- Leader-following consensus of linear time-varying multi-agent systems under fixed and switching topologies
- Position and attitude tracking control using CCW and SNI system theory with applications to multi-agent systems
- Consensus based formation control laws for systems on Lie groups
- Pose synchronization of multiple rigid bodies under average dwell time condition
- Distributed formation control of the special Euclidean group SE(2) via global orientation control
- Title not available (Why is that?)
- Robust attitude alignment in multispacecraft systems with stochastic links failure
- Displacement-based formation control with predefined attitude over time-varying topologies
- 6-DOF consensus control of multi-agent rigid body systems using rotation matrices
- Guaranteed performance consensus problems for nonlinear multi-agent systems with directed topologies
- Roto-translation invariant formation of fixed-wing UAVs in 3D: feasibility and control
- Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks
- Bearing-only formation control of multi-agent systems in local reference frames
- Time‐varying formation control with attitude synchronization of multiple rigid body systems
- A lifting method for analyzing distributed synchronization on the unit sphere
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