Flocking and formation control for a group of nonholonomic wheeled mobile robots

Pliego‐Jiménez, Javier; Martínez-Clark, Rigoberto; Cruz-Hernández, C.; Avilés-Velázquez, Jesús David; Flores-Resendiz, Juan Francisco

doi:10.1080/23311916.2023.2167566

Cited by 4 publications

(1 citation statement)

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“…Cooperative robots take inspiration from the collective behaviors observed in nature, for instance, flocking birds or schooling fish [ 8 , 9 ]. Interesting collective behaviors in robotics include synchronization, flocking, formation, and consensus [ 10 , 11 , 12 ].…”

Section: Introductionmentioning

confidence: 99%

Attitude Synchronization of a Group of Rigid Bodies Using Exponential Coordinates

Sidón-Ayala,

Pliego-Jiménez,

Cruz-Hernandez

2023

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Currently, managing a group of satellites or robot manipulators requires coordinating their motion and work in a cooperative way to complete complex tasks. The attitude motion coordination and synchronization problems are challenging since attitude motion evolves in non-Euclidean spaces. Moreover, the equation of motions of the rigid body are highly nonlinear. This paper studies the attitude synchronization problem of a group of fully actuated rigid bodies over a directed communication topology. To design the synchronization control law, we exploit the cascade structure of the rigid body’s kinematic and dynamic models. First, we propose a kinematic control law that induces attitude synchronization. As a second step, an angular velocity-tracking control law is designed for the dynamic subsystem. We use the exponential coordinates of rotation to describe the body’s attitude. Such coordinates are a natural and minimal parametrization of rotation matrices which almost describe every rotation on the Special Orthogonal group SO(3). We provide simulation results to show the performance of the proposed synchronization controller.

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