Shape control of a multi-agent system using tensegrity structures

Benjamin Nabet; Naomi Ehrich Leonard

doi:10.1007/978-3-540-73890-9_26

Shape control of a multi-agent system using tensegrity structures

Benjamin Nabet, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Scopus citations

Abstract

We present a new coordinated control law for a group of vehicles in the plane that stabilizes an arbitrary desired group shape. The control law is derived for an arbitrary shape using models of tensegrity structures which are spatial networks of interconnected struts and cables. The symmetries in the coupled system and the energy-momentum method are used to investigate stability of relative equilibria corresponding to steady translations of the prescribed rigid shape.

Original language	English (US)
Title of host publication	Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 - Proceedings from the 3rd IFAC Workshop
Publisher	Springer Verlag
Pages	329-339
Number of pages	11
ISBN (Print)	3540738894, 9783540738893
DOIs	https://doi.org/10.1007/978-3-540-73890-9_26
State	Published - 2007
Event	3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, LHMNLC 2006 - Nagoya, Japan Duration: Jul 19 2006 → Jul 21 2006

Publication series

Name	Lecture Notes in Control and Information Sciences
Volume	366 LNCIS
ISSN (Print)	0170-8643

Other

Other	3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, LHMNLC 2006
Country	Japan
City	Nagoya
Period	7/19/06 → 7/21/06

All Science Journal Classification (ASJC) codes

Library and Information Sciences

Access to Document

10.1007/978-3-540-73890-9_26

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title = "Shape control of a multi-agent system using tensegrity structures",

abstract = "We present a new coordinated control law for a group of vehicles in the plane that stabilizes an arbitrary desired group shape. The control law is derived for an arbitrary shape using models of tensegrity structures which are spatial networks of interconnected struts and cables. The symmetries in the coupled system and the energy-momentum method are used to investigate stability of relative equilibria corresponding to steady translations of the prescribed rigid shape.",

author = "Benjamin Nabet and Leonard, {Naomi Ehrich}",

note = "Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, LHMNLC 2006 ; Conference date: 19-07-2006 Through 21-07-2006",

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Nabet, B & Leonard, NE 2007, Shape control of a multi-agent system using tensegrity structures. in Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 - Proceedings from the 3rd IFAC Workshop. Lecture Notes in Control and Information Sciences, vol. 366 LNCIS, Springer Verlag, pp. 329-339, 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, LHMNLC 2006, Nagoya, Japan, 7/19/06. https://doi.org/10.1007/978-3-540-73890-9_26

Shape control of a multi-agent system using tensegrity structures. / Nabet, Benjamin; Leonard, Naomi Ehrich.

Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 - Proceedings from the 3rd IFAC Workshop. Springer Verlag, 2007. p. 329-339 (Lecture Notes in Control and Information Sciences; Vol. 366 LNCIS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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