TY - GEN
T1 - Retraction balancing and formation control
AU - Montenbruck, Jan Maximilian
AU - Zelazo, Daniel
AU - Allgower, Frank
N1 - Publisher Copyright: © 2015 IEEE.
PY - 2015/2/8
Y1 - 2015/2/8
N2 - We consider a formation control problem in which a collection of systems is ought to attain a balanced configuration on a submanifold of their state space. The submanifold thus determines the shape and position of the desired formation. We solve the formation control problem by simultaneously balancing the retractions of the systems onto the submanifold and asymptotically stabilizing the submanifold. In doing so, we arrive at a distributed control law.
AB - We consider a formation control problem in which a collection of systems is ought to attain a balanced configuration on a submanifold of their state space. The submanifold thus determines the shape and position of the desired formation. We solve the formation control problem by simultaneously balancing the retractions of the systems onto the submanifold and asymptotically stabilizing the submanifold. In doing so, we arrive at a distributed control law.
UR - http://www.scopus.com/inward/record.url?scp=84962028776&partnerID=8YFLogxK
U2 - 10.1109/CDC.2015.7402784
DO - 10.1109/CDC.2015.7402784
M3 - منشور من مؤتمر
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3645
EP - 3650
BT - 54rd IEEE Conference on Decision and Control,CDC 2015
T2 - 54th IEEE Conference on Decision and Control, CDC 2015
Y2 - 15 December 2015 through 18 December 2015
ER -