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.

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