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Control of Small Formations Using Shape Coordinates

Zhang, Fumin; Goldgeier, Michael; Krishnaprasad, Perinkulam S. (2003)

Formations that contain a small number of robots are modeled as controlled Lagrangian systems on Jacobi shape space. This allows a block-structured control of position, orientation and shape of the formation. Feedback ...

Coordinated Orbit Transfer for Satellite Clusters

Zhang, Fumin; Krishnaprasad, Perinkulam S. (2002)

We propose a control law which allows a satellite formation to achieveorbit transfer. During the transfer, the formationcan be either maintained or modified to a desired one.Based on the orbit transfer control law proposed ...