Open AccessPose control of multi‐rigid‐body systems with distance‐dependent topologies
Author(s) -
Deng Juan
Publication year - 2021
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12072
Subject(s) - rigid body , control theory (sociology) , synchronization (alternating current) , torque , spanning tree , network topology , computer science , graph , multi agent system , set (abstract data type) , controller (irrigation) , function (biology) , topology (electrical circuits) , control (management) , mathematics , artificial intelligence , physics , theoretical computer science , classical mechanics , combinatorics , evolutionary biology , biology , agronomy , thermodynamics , programming language , operating system
This paper investigates the pose control problem of multi‐rigid‐body systems, where the distance‐dependent graphs are adopted to describe the interaction relations between rigid bodies. The authors design distributed control laws for torque and force of rigid bodies, with back‐stepping technique and potential function method being utilized. An admissible set for initial states of rigid bodies is presented, on which the theoretical results about attitude synchronization, collision avoidance and connectivity maintenance are established without relying on the prior connectivity assumption of the dynamical neighbour graphs. The authors introduce the initial neighbourhoods or the neighbourhoods corresponding to a minimum spanning tree extracted from the initial neighbour graph into the controller, to reduce the communication pressure on system and the constraints on motion of rigid bodies. Furthermore, a leader is introduced into the system to guide all rigid bodies to a desired attitude. Simulation examples are given to verify the theoretical results.