Article (Scientific journals)
Decentralized cooperative tracking subject to motion constraints
Wang, Lin; Markdahl, Johan; Liu, Zhixin et al.
2018In Automatica, 96, p. 121-126
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Abstract :
[en] This paper addresses the formation control problem, where three agents are tasked with moving an object cooperatively along a desired trajectory while also adjusting its posture to some desired attitudes, i.e. position and attitude tracking. Two decentralized control laws based on locally available information are proposed. The first control law maintains constant inter-agent distances over time, i.e. the formation of agents moves as a single rigid-body. The second control law relaxes this constraint by only maintaining similarity of the agent formation as a polygon in Euclidean space.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Wang, Lin
Markdahl, Johan ;  University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB)
Liu, Zhixin
Hu, Xiaoming
External co-authors :
yes
Language :
English
Title :
Decentralized cooperative tracking subject to motion constraints
Publication date :
October 2018
Journal title :
Automatica
ISSN :
0005-1098
Publisher :
Elsevier, Oxford, United Kingdom
Volume :
96
Pages :
121-126
Peer reviewed :
Peer Reviewed verified by ORBi
Focus Area :
Computational Sciences
Available on ORBilu :
since 28 November 2018

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