Control of small formations using shape coordinates

Author

Zhang, Furnin ; Goldgeier, Michael ; Krishnaprasad, P.S.

Author_Institution

Dept. of Electr. & Comput. Eng., Maryland Univ., College Park, MD, USA

Volume

2

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

2510

Abstract

Formations that contain a small number of robots are modeled as controlled Lagrangian systems on Jacobi shape space. This allows a blocked decoupled control for position, orientation and shape of the formation. Feedback control laws are derived using control Lyapunov functions. The controlled dynamics converges to the invariant set where desired shape is achieved. Controllers are implemented in a layered fashion via the extended motion description language (MDLe) system. Group MDLe plans are constructed to allow structured controller design for formations.

Keywords

Lyapunov methods; cooperative systems; feedback; invariance; multi-robot systems; position control; robot programming; Jacobi shape space; Lagrangian systems; Lyapunov functions; MDLe plans; controlled dynamics; decoupled control; feedback control; invariant set; motion description language; multiple robot system; orientation control; position control; shape control; shape coordinates; small formations control; Control system synthesis; Control systems; Feedback control; Jacobian matrices; Lagrangian functions; Lyapunov method; Motion control; Orbital robotics; Robot kinematics; Shape control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241970

Filename

1241970