Passive decomposition approach to formation and maneuver control of multiple rigid bodies

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 129, Issue 5, 2007, Pages 662-677

  Lee, Dongjun ^a   Li, Perry Y ^b  

^a The University of Tennessee   (United States)

^b University of Minnesota ^*  (United States)

Author keywords

Decentralized control; Hierarchical control; Multi agent formation control; Passive decomposition; Rigid body dynamics

Indexed keywords

HIERARCHICAL CONTROL; MULTIAGENT FORMATION CONTROL; PASSIVE DECOMPOSITION; RIGID BODY DYNAMICS;

DECENTRALIZED CONTROL; DYNAMICAL SYSTEMS; HIERARCHICAL SYSTEMS; TOPOLOGY;

MULTI AGENT SYSTEMS;

EID: 35248841068     PISSN: 00220434     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2764507     Document Type: Article

References (40)

1. Beard, R. W., Lawton, J., and Hadaegh, F. Y., 2001, "A Coordination Architecture for Spacecraft Formation Control," IEEE Trans. Control Syst. Technol., 9(6), pp. 777-790.
2. Bristow, J., Folta, D., and Hartman, K., 2000, "A Formation Flying Technology Vision," in Proceedings of the AIAA Space 2000 Conference and Exposition, Paper No. AIAA-2000-5194.
3. Smith, R. S., and Hadaegh, F. Y., 2005, "Control of Deep-Space Formation-Flying Spacecraft: Relative Sensing and Switched Information," J. Guid. Control Dyn., 28(1), pp. 106-114.
4. Vachtsevanos, G. and Valavanis, K., eds., 2006, IEEE Robotics and Automation Magazine: Special Issue on Unmanned Aerial Vehicles, Vol. 13, September.
5. Ogren, P., Fiorelli, E., and Leonard, N. E., 2004, "Cooperative Control of Mobile Sensor Networks: Adaptive Gradient Climbing in a Distributed Environment," IEEE Trans. Autom. Control, 49(8), pp. 1292-1302.
6. Cortes, J., Martinez, S., Karatas, T., and Bullo, F., 2004, "Coverage Control for Mobile Sensing Networks," IEEE Trans. Rob. Autom., 20(2), pp. 243-255.
7. Pereira, G. A. S., Campos, M. F. M., and Kumar, V., 2004, "Decentralized Algorithms for Multi-Robot Manipulation Via Caging," Int. J. Robot. Res., 23(7-8), pp. 783-795.
8. Rus, D., Donald, B., and Jennings, J., 1995, "Moving Furniture With Teams of Autonomous Robots," in Proceedings of the IEEE/RSJ Int'l. Conference on Intelligent Robots and Systems, pp. 235-242.
9. Jadbabaie, A., Lin, J., and Morse, A. S., 2003, "Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules," IEEE Trans. Autom. Control, 48(6), pp. 988-1001.
10. Tanner, H. G., Jadbabai, A., and Pappas, G. J., 2003, "Stable Flocking of Mobile Agents, Part II: Dynamic Topology," in Proceedings of the 42nd IEEE Conference on Decision and Control, pp. 2016-2021.
11. Marshall, J. A., Broucke, M. E., and Francis, B. A., 2004, "Formations of Vehicles in Cyclic Pursuit," IEEE Trans. Autom. Control, 49(11), pp. 1963-1974.
12. Wang, P. K. C., and Hadaegh, F. Y., 1996, "Coordination and Control of Multiple Microspacecraft Moving in Formation," J. Astronaut. Sci., 44(3), pp. 315-355.
13. Wang, P. K. C., Hadaegh, F. Y., and Lau, K., 1999, "Synchronized Formation Rotation and Attitude Control of Multiple Free-Flying Spacecraft," J. Guid. Control Dyn., 22(1), pp. 28-35.
14. Mesbahi, M., and Hadaegh, F. Y., 2001, "Formation Flying Control of Multiple Spacecraft Via Graphs, Matrix Inequalities, and Switching," J. Guid. Control Dyn., 24(2), pp. 369-377.
15. Wong, H., Kapila, V., and Sparks, A. G., 2001, "Adaptive Output Feedback Tracking Control of Spacecraft Formation," Int. J. Robust Nonlinear Control, 12, pp. 117-139.
16. Seiler, P., Pant, A., and Hedrick, K., 2002, "Disturbance Propagation in Large Interconnected Systems," in Proceedings of the American Control Conference, pp. 1062-1067.
17. Orgen, P., Egerstedt, M., and Hu, X., 2002, "A Control Lyapunov Function Approach to Multiagent Coordination," IEEE Trans. Rob. Autom., 18(5), pp. 847-851.
18. Ren, W., and Beard, R. W., 2004, "Formation Feedback Control for Multiple Spacecraft via Virtual Structures," IEE Proc.: Control Theory Appl., 151(3), pp. 357-368.
19. Ren, W., and Beard, R. W., 2004, "Decentralized Scheme for Spacecraft Formation Flying via Virtual Structure Approach," J. Guid. Control Dyn., 27(1), pp. 73-82.
20. Lee, D. J., and Li, P. Y., 2002, "Passive Bilateral Feedforward Control of Linear Dynamically Similar Teleoperated Manipulators," IEEE Trans. Rob. Autom., 19(3), pp. 443-456.
21. Lee, D. J., and Li, P. Y., 2005, "Passive Bilateral Control and Tool Dynamics Rendering for Nonlinear Mechanical Teleoperators," IEEE Trans. Rob. Autom., 21(5), pp. 936-951.
22. Lee, D., 2004, "Passive Decomposition and Control of Interactive Mechanical Systems Under Coordination Requirements," Ph.D. thesis, University of Minnesota.
23. Lee, D. J., and Li, P. Y., 2004, "Passive Decomposition for Multiple Mechanical Systems Under Coordination Requirements," in Proceedings of the IEEE Conference on Decision and Control, pp. 1240-1245.
24. Willems, J. C., 1972, "Dissipative Dynamical Systems Part 1: General Theory," Arch. Ration. Mech. Anal., 45(22), pp. 321-351.
25. Colgate, J. E., 1994, "Coupled Stability of Multiport Systems-Theory and Experiments," ASME J. Dyn. Syst., Meas., Control, 116(3), pp. 419-428.
26. Ambrose, R. O., Aldridge, H., Askew, R. S., Burridge, R. R., Bluethmann, W., Diftler, M., Lovchik, C., Magruder, D., and Rehnmark, F., 2000, "Robonaut: Nasa's Space Humanoid," IEEE Intell. Syst., 15(4), pp. 57-63.
27. Lee, D. J., and Spong, M. W., 2005, "Bilateral Teleoperation of Multiple Cooperative Robots Over Delayed Communication Networks: Theory," in Proceedings of IEEE International Conf. on Robotics & Automation, pp. 362-367.
28. Slotine, J. J. E., and Di Benedetto, M. D., 1990. "Hamiltonian Adaptive Control of Spacecraft," IEEE Trans. Autom. Control, 35(7), pp. 848-852.
29. Crouch, P. E., 1984, "Spacecraft Attitude Control and Stabilization: Applications of Geometric Control Theory to Rigid Body Models," IEEE Trans. Autom. Control, 29(4), pp. 321-331.
30. b(...)
31. Bishop, R. L., and Goldberg, S. I., 1980, Tensor Analysis on Manifolds, Dover, New York.
32. Lee, D. J., and Li, P. Y., 2003, "Formation and Maneuver Control for Multiple Spacecrafts," in Proceeding of American Control Conference, Vol. 1, pp. 278-283.
33. Do Carmo, M. P., 1992, Riemannian Geometry, Birkhauser, Basel, Switzerland.
34. Bullo, F., and Zefran, M., 2002, "On Mechanical Control Systems With Nonholonomic Constraints and Symmetries," Syst. Control Lett., 45(2), pp. 133-143.
35. Murray, R. M., Li, Z., and Sastry, S. S., 1993, A Mathematical Introduction to Robotic Manipulation, CRC, Boca Raton, FL.
36. Nicosia, S., and Tomei, P., 1992, "Nonlinear Observer and Output Feedback Attitude Control of Spacecraft," IEEE Trans. Aerosp. Electron. Syst., 28(4), pp. 970-977.
37. Swaroop, D., and Hedrick, J. K., 1996, "String Stability of Interconnected Systems," IEEE Trans. Autom. Control, 41(3), pp. 349-357.
38. Fax, J. A., and Murray, R. M., 2003, "Information Flow and Cooperative Control of Vehicle Formations," IEEE Trans. Autom. Control, 49(9), pp. 1465-1476.
39. Lin, Z., and Murray, R. M., 2003, "Stability and Performance Analysis With Double-Graph Model of Vehicle Formations," in Proceeding of the American Control Conference, Vol. 3, pp. 2223-2228.
40. Lee, D. J., and Spong, M. W., 2006, "Stable Flocking of Multiple Inertial Agents on Balanced Graph," in Proceeding of the American Control Conference, pp. 2136-2141.