Shape control of a multi-agent system using tensegrity structures

Benjamin Nabet, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationLagrangian and Hamiltonian Methods for Nonlinear Control 2006 - Proceedings from the 3rd IFAC Workshop
Pages329-339
Number of pages11
StatePublished - Dec 1 2007
Event3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, LHMNLC 2006 - Nagoya, Japan
Duration: Jul 19 2006Jul 21 2006

Publication series

NameLecture Notes in Control and Information Sciences
Volume366 LNCIS
ISSN (Print)0170-8643

Other

Other3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, LHMNLC 2006
CountryJapan
CityNagoya
Period7/19/067/21/06

All Science Journal Classification (ASJC) codes

  • Library and Information Sciences

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