Control of Small Formations Using Shape Coordinates

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dc.contributor.advisorKrishnaprasad, Perinkulam S.en_US
dc.contributor.authorZhang, Fuminen_US
dc.contributor.authorGoldgeier, Michaelen_US
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.contributor.departmentISRen_US
dc.contributor.departmentCDCSSen_US
dc.date.accessioned2007-05-23T10:14:43Z
dc.date.available2007-05-23T10:14:43Z
dc.date.issued2003en_US
dc.description.abstractFormations 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 control laws are derived using control Lyapunov functions. The controlled dynamics converges to the invariant set where desired shape is achieved. Controllers are implemented in a layered fashion via the extended motion description language(MDLe) system. Group MDLe plans are constructed to allow structured controller design for formations.en_US
dc.format.extent67725 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/6406
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 2003-49en_US
dc.relation.ispartofseriesCDCSS; TR 2003-4en_US
dc.subjectSensor-Actuator Networksen_US
dc.titleControl of Small Formations Using Shape Coordinatesen_US
dc.typeTechnical Reporten_US

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