Local and Distributed Rendezvous of Underactuated Rigid Bodies

This paper solves the rendezvous problem for a network of underactuated rigid bodies such as quadrotor helicopters. A control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood of one another. The convergence is global, and each vehicle...

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Veröffentlicht in:	IEEE transactions on automatic control 2017-08, Vol.62 (8), p.3835-3847
Hauptverfasser:	Roza, Ashton, Maggiore, Manfredi, Scardovi, Luca
Format:	Artikel
Sprache:	eng
Schlagworte:	Angular velocity Decentralized Control Networked Control Systems Nonlinear Control Systems Robot Control Robot kinematics Robot sensing systems Vehicles Velocity measurement
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