Robust Formation Control in SE(3) for Tree-Graph Structures with Prescribed Transient and Steady State Performance
For multi-agent robotic systems, this work provides a robust formation control method with guaranteed performance and safety constraints, though it is incremental as it extends existing prescribed performance control to SE(3) formation control.
This paper proposes a decentralized robust control protocol for distance and orientation formation control of rigid bodies in SE(3) with tree-graph structures, guaranteeing prescribed transient and steady-state performance while ensuring collision avoidance and connectivity maintenance. Simulation results verify the approach.
This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are decentralized, in the sense that each agent uses only local relative information from its neighbors to calculate its control signal, as well as robust with respect to modeling (parametric and structural) uncertainties and external disturbances. The proposed methodology guarantees the satisfaction of inter-agent distance constraints that resemble collision avoidance and connectivity maintenance properties. Moreover, certain predefined functions characterize the transient and steady state performance of the closed loop system. Finally, simulation results verify the validity and efficiency of the proposed approach.