期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 26, 期 6, 页码 978-992出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2010.2082430
关键词
Decomposition; geometry; multirobot formation control; nonholonomic mechanical systems; passivity
类别
资金
- National Science Foundation [CMMI-0727480]
We propose nonholonomic passive decomposition, which enables us to decompose the Lagrange-D'Alembert dynamics of multiple (or a single) nonholonomic mechanical systems with a formation-specifying (holonomic) map h into 1) shape system, describing the dynamics of h(q) (i. e., formation aspect), where q is an element of R-n is the systems' configuration; 2) locked system, describing the systems' motion on the level set of h with the formation aspect h(q) being fixed (i. e., maneuver aspect); 3) quotient system, whose nonzero motion perturbs both the formation and maneuver aspects simultaneously; and 4) energetically conservative inertia-induced coupling among them. All the locked, shape, and quotient systems individually inherit Lagrangian dynamics-like structure and passivity, which facilitates their control design/analysis. Canceling out the coupling, regulating the quotient system, and controlling the locked and shape systems individually, we can drive the formation and maneuver aspects simultaneously and separately. Notions of formation/maneuver decoupled controllability are introduced to address limitations imposed by the nonholonomic constraint, along with passivity-based formation/maneuver control design examples. Numerical simulations are performed to illustrate the theory. Extension to kinematic nonholonomic systems is also presented.
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