TY - GEN
T1 - Shape control of a multi-agent system using tensegrity structures
AU - Nabet, Benjamin
AU - Leonard, Naomi Ehrich
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-540-73890-9_26
DO - 10.1007/978-3-540-73890-9_26
M3 - Conference contribution
AN - SCOPUS:70449662951
SN - 3540738894
SN - 9783540738893
T3 - Lecture Notes in Control and Information Sciences
SP - 329
EP - 339
BT - Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 - Proceedings from the 3rd IFAC Workshop
PB - Springer Verlag
T2 - 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, LHMNLC 2006
Y2 - 19 July 2006 through 21 July 2006
ER -