Passivity-based output synchronization in SE(3)

In this paper, we address an output synchronization problem in the Special Euclidean group of dimension three (SE(3)) under the situation that rigid-bodies modeled in SE(3) exchange information along strongly connected graphs. We develop a velocity control law, which is defined only by local informa...

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Bibliographic Details
Published in2008 American Control Conference pp. 723 - 728
Main Authors Igarashi, Y., Hatanaka, T., Fujita, M., Spong, M.W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2008
Subjects
Communication system control
Control systems
Convergence
Delay
Error correction
Motion control
Numerical simulation
Satellites
Sensor systems and applications
Velocity control
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ISBN1424420784
9781424420780
ISSN0743-1619
DOI10.1109/ACC.2008.4586578

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Summary:In this paper, we address an output synchronization problem in the Special Euclidean group of dimension three (SE(3)) under the situation that rigid-bodies modeled in SE(3) exchange information along strongly connected graphs. We develop a velocity control law, which is defined only by local information i.e. information of neighbors on position errors and relative orientations. The achievement of the output synchronization and hence the convergence of all the rigid- bodies to any prescribed trajectory is proven by using a property called passivity. Our results are also extended to the case with delays in communication among rigid-bodies. Finally, we demonstrate the effectiveness of the present input through numerical simulations and experiments.
ISBN:1424420784
9781424420780
ISSN:0743-1619
DOI:10.1109/ACC.2008.4586578