Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10398725 | Automatica | 2012 | 7 Pages |
Abstract
We propose novel exponentially-converging distributed flocking and formation-centroid backstepping control frameworks for multiple under-actuated thrust-propelled vehicles in SE(3), each consisting of the under-actuated Cartesian dynamics on E(3) with one-dimensional thrust-force input and the fully-actuated attitude kinematics on SO(3) with angular-rates inputs; and evolving on a strongly-connected balanced information graph G. Simulations are also performed to illustrate the theory.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Dongjun Lee,