Shape Control of a Multi-Agent System Using Tensegrity Structures
Benjamin Nabet and Naomi Ehrich Leonard
Proceedings of the 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control,
Nagoya, Japan, July 2006.
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.
(169 KB pdf)
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