TY - GEN
T1 - Formation shape and orientation control using projected collinear tensegrity structures
AU - Pais, Darren
AU - Cao, Ming
AU - Leonard, Naomi Ehrich
PY - 2009
Y1 - 2009
N2 - The goal of this work is to stabilize the shape and orientation of formations of N identical and fully actuated agents, each governed by double-integrator dynamics. Using stability and rigidity properties inherent to tensegrity structures, we first design a tensegrity-based, globally exponentially stable control law in one dimension. This stabilizes given interagent spacing along the line, thereby enabling shape control of one-dimensional formations. We then couple one-dimensional control laws along independent orthogonal axes to design a distributed control law capable of stabilizing arbitrary shapes and orientations in n dimensions. We also present two methods for formation shape and orientation change, one using smooth parameter variations of the control law, and the other, an n-step collision-free algorithm for shape change between any two formations in n-dimensional space.
AB - The goal of this work is to stabilize the shape and orientation of formations of N identical and fully actuated agents, each governed by double-integrator dynamics. Using stability and rigidity properties inherent to tensegrity structures, we first design a tensegrity-based, globally exponentially stable control law in one dimension. This stabilizes given interagent spacing along the line, thereby enabling shape control of one-dimensional formations. We then couple one-dimensional control laws along independent orthogonal axes to design a distributed control law capable of stabilizing arbitrary shapes and orientations in n dimensions. We also present two methods for formation shape and orientation change, one using smooth parameter variations of the control law, and the other, an n-step collision-free algorithm for shape change between any two formations in n-dimensional space.
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U2 - 10.1109/ACC.2009.5160251
DO - 10.1109/ACC.2009.5160251
M3 - Conference contribution
AN - SCOPUS:70449632671
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 610
EP - 615
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -