Robust formation control in SE(3) for tree-graph structures with prescribed transient and steady state performance. (May 2019)

• Record Type: Journal Article
• Authors: Verginis, Christos K.; Nikou, Alexandros; Dimarogonas, Dimos V.
• Is Part Of: Automatica. Volume 103(2019)
• Page Start: 538
• Page End: 548
• Publication Date: 2019-05
• Subjects: Multi-agent systems -- Cooperative control -- Formation control -- Connectivity maintenance -- Robust control -- Prescribed performance control; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2019.02.034
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE ( 3 ) . The proposed control laws are decentralized, in the sense that each agent uses only local relative information from its neighbors to calculate its control signal, as well as robust with respect to modeling (parametric and structural) uncertainties and external disturbances. The proposed methodology guarantees the satisfaction of inter-agent distance constraints that resemble collision avoidance and connectivity maintenance properties. Moreover, certain predefined functions characterize the transient and steady state performance of the closed loop system. Finally, simulation results verify the validity and efficiency of the proposed approach.