Finite-time Optimal Formation Control on Lie Groups

摘要：

This paper studies the problem of finite-time optimal formation control for agents evolving on Lie groups SE(2), for the situation when the formation time and/or the cost function need to be considered. The finite-time optimal formation control laws are proposed for the two-agent case. Considering that disturbances exist after the terminal time, the trajectory tracking control law is given to keep the formation. Finally, some numerical examples are given to illustrate the effectiveness of the theoretical results.

关键词： Finite-time Formation Optimal Lie Group Trajectory Tracking

作者: LIU Yongfang GENG Zhiyong

作者单位: State Key Laboratory for Turbulence and Complex Systems, College of Engineering,Peking University, B State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University,

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 715-720

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）