Title :
Unified Cooperative Control of Multiple Agents on a Sphere for Different Spherical Patterns
Author :
Wei Li ; Spong, M.W.
Author_Institution :
Dept. of Control & Syst. Eng., Nanjing Univ., Nanjing, China
Abstract :
In this technical note, we consider the cooperative control of multiple agents on a sphere, provide the appropriate attraction-repulsion interactions between agents with introduction of the state-dependent repulsive coefficients, and design the unified control laws for agents to achieve three fundamental spherical configurations or patterns: rendezvous, uniform deployment, and formation, using both the first- and second-order models. We present the analysis of the stability, scaling and geometric patterns of the models on the sphere under different attraction-repulsion parameters, with illustration of the geometrical patterns and the geometrical isomerism by simulations. The closed-loop dynamics of agents are invariant with respect to group rotation actions on the sphere.
Keywords :
closed loop systems; control system synthesis; multi-robot systems; position control; stability; agent attraction-repulsion interaction; agent closed-loop dynamics; agent formation; attraction-repulsion parameters; first-order model; geometric pattern analysis; geometrical isomerism; group rotation action; multiple agents; rendezvous; scaling pattern analysis; second-order model; spherical configurations; spherical patterns; stability analysis; state-dependent repulsive coefficients; unified control law design; unified cooperative control; uniform deployment; Aerospace electronics; Analytical models; Dynamics; Force; Manifolds; Oscillators; Stability analysis; Cooperative control; deployment; formation; manifold; motion patterns; rendezvous; spherical cooperation; spherical pattern;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2013.2286897