Coordination of multiple rigid bodies under distance-induced interaction topologies
文献类型：期刊论文
| 作者 | Deng, Juan1,2; Wang, Lin3,4; Liu, Zhixin1,2 ; Hu, Xiaoming5
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| 刊名 | IET CONTROL THEORY AND APPLICATIONS
 |
| 出版日期 | 2018-10-16 |
| 卷号 | 12期号:15页码:2067-2075 |
| 关键词 | synchronisation control system synthesis graph theory attitude control distributed control multi-robot systems collision avoidance velocity control mobile robots multiple rigid bodies distance-induced interaction topologies coordination control problem distance-induced neighbour graphs nearby bodies angular velocity linear velocity attitude synchronisation |
| ISSN号 | 1751-8644 |
| DOI | 10.1049/iet-cta.2017.1426 |
| 英文摘要 | 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. |
| 资助项目 | National Natural Science Foundation of China[11688101] ; National Natural Science Foundation of China[61621003] ; National Key Basic Research Program of China (973 program)[2014CB845302] |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000445062500007 |
| 出版者 | INST ENGINEERING TECHNOLOGY-IET |
| 源URL | [http://ir.amss.ac.cn/handle/2S8OKBNM/31240]  |
| 专题 | 系统科学研究所 |
| 通讯作者 | Liu, Zhixin |
| 作者单位 | 1.Chinese Acad Sci, Acad Math & Syst Sci, LSC, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China 3.Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China 4.Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China 5.KTH Royal Inst Technol, Optimizat & Syst Theory, S-10044 Stockholm, Sweden |
| 推荐引用方式 GB/T 7714 | Deng, Juan,Wang, Lin,Liu, Zhixin,et al. Coordination of multiple rigid bodies under distance-induced interaction topologies[J]. IET CONTROL THEORY AND APPLICATIONS,2018,12(15):2067-2075. |
| APA | Deng, Juan,Wang, Lin,Liu, Zhixin,&Hu, Xiaoming.(2018).Coordination of multiple rigid bodies under distance-induced interaction topologies.IET CONTROL THEORY AND APPLICATIONS,12(15),2067-2075. |
| MLA | Deng, Juan,et al."Coordination of multiple rigid bodies under distance-induced interaction topologies".IET CONTROL THEORY AND APPLICATIONS 12.15(2018):2067-2075. |
入库方式： OAI收割
来源：数学与系统科学研究院
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