Abstract
We present a new coordinated control law for a group of vehicles in the plane that stabilizes an arbitrary desired group shape. The control law is derived for an arbitrary shape using models of tensegrity structures which are spatial networks of interconnected struts and cables. The symmetries in the coupled system and the energy-momentum method are used to investigate stability of relative equilibria corresponding to steady translations of the prescribed rigid shape.
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Nabet, B., Leonard, N.E. (2007). Shape Control of a Multi-agent System Using Tensegrity Structures. In: Allgüwer, F., et al. Lagrangian and Hamiltonian Methods for Nonlinear Control 2006. Lecture Notes in Control and Information Sciences, vol 366. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73890-9_26
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DOI: https://doi.org/10.1007/978-3-540-73890-9_26
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73889-3
Online ISBN: 978-3-540-73890-9
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