Consensus Control for Dynamic Systems on Lie Groups
This paper addresses the consensus problem of multi-agent systems with a complete communication topology consisting of second order dynamics defined on Lie groups.The specific results are illustrated on SE(3) and SE(2) (the special Euclidean groups of rigid body motions and each of which shares the geometric structure of a Lie group).The control algorithm proposed in the paper drive the multi-agent systems toward consensus of position as well as attitude simultaneously with specific motion patterns.Several numerical simulations are included to verify the theoretical results.
Dynamic System Lie Groups Network Consensus
DONG Runsha GENG Zhiyong
The State Key Laboratory for Turbulence and Complex Systems,Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, P. R. China
国际会议
the 32nd Chinese Control Conference(第三十二届中国控制会议)
西安
英文
6856-6861
2013-07-01（万方平台首次上网日期，不代表论文的发表时间）