Formation tracking control for multiple rigid bodies on matrix Lie groups: A system decomposition approach

DOI10.1002/RNC.3789MaRDI QIDQ3133835zbMATH OpenOpenAlexWikidataFDO

Authors Junyong Sun, Zhiyong Geng

Publication date 8 February 2018

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.3789

zbMATH Keywords

formation controlrigid bodiesmatrix Lie groupssystem decomposition

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Decentralized systems (93A14) Control/observation systems governed by ordinary differential equations (93C15) Algebraic methods (93B25)

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Cited in

(14)

• Finite-time optimal tracking control for dynamic systems on Lie groups
• Trajectory tracking of nonholonomic mobile robots by geometric control on special Euclidean group
• Almost-global tracking for a rigid body with internal rotors
• Formation control and coordinated tracking via asymptotic decoupling for Lagrangian multi-agent systems
• Formation tracking control of multi-vehicle systems
• Output regulation for systems on matrix Lie-groups
• Finite-time optimal formation control of multi-agent systems on the Lie group \(SE(3)\)
• The geometric convexity on SE(3) and its application to the formation tracking in multi-vehicle systems
• Formation Tracking of Nonholonomic Systems on the Special Euclidean Group under Fixed and Switching Topologies: An Affine Formation Strategy
• Robust formation control in \(\mathbb{SE}(3)\) for tree-graph structures with prescribed transient and steady state performance
• Time‐varying formation control with attitude synchronization of multiple rigid body systems
• Logarithmic control, trajectory tracking, and formation for nonholonomic vehicles on Lie group \(\mathrm{SE}(2)\)
• Robust formation control of multiagent systems on the Lie group SE(3)
• Consensus based formation control laws for systems on Lie groups

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