NDLI: Coordination of multiple rigid bodies under distance-induced interaction topologies

Content Provider	IET Digital Library
Author	Deng, Juan Wang, Lin Liu, Zhixin Hu, Xiaoming
Abstract	This study considers the coordination control problem of a group of moving rigid bodies. Each rigid body communicates with other bodies via the distance-induced neighbour graphs. The authors design the distributed control laws for the angular velocity and linear velocity of rigid bodies, and establish sufficient conditions without relying on the dynamical properties of neighbour graphs, to guarantee that the rigid bodies reach the attitude synchronisation and avoid collision with nearby bodies while the communication networks keep connected. Moreover, they introduce a leader into the system to guide all rigid bodies to the desired attitude. Simulation examples are given to illustrate the authors' results.
Starting Page	2067
Ending Page	2075
Page Count	9
ISSN	17518644
Volume Number	12
e-ISSN	17518652
Issue Number	Issue 15, Oct (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/12/15
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.1426
Journal	IET Control Theory & Applications
Publisher Date	2018-05-21
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Acceleration Angular Velocity Attitude Control Attitude Synchronisation Collision Avoidance Combinatorial Mathematics Control System Analysis Control System Synthesis Coordination Control Problem Distance-induced Interaction Topology Distance-induced Neighbour Graphs Distributed Control Graph Theory Linear Velocity Mobile Robots Multi-robot System Multiple Rigid Bodies Multivariable Control System Nearby Bodies Rotation Control Spatial Variables Control Synchronisation Synthesis Method Velocity Velocity Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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