Phase Synchronization Control of Robotic Networks on Periodic Ellipses with Adaptive Network Topologies

Soon Jo Chung, Insu Chang Y, Fred Y. Hadaeghz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a novel formation control method for a large number of robots or vehicles described by Euler-Lagrange (EL) systems moving in elliptical orbits. A new coordinate transformation method for phase synchronization of networked EL systems in elliptical trajectories is introduced to define desired formation patterns. The proposed phase synchronization controller synchronizes the motions of agents, thereby yielding a smaller synchronization error than an uncoupled control law in the presence of bounded disturbances. A complex time-varying and switching network topology, constructed by the adaptive graph Laplacian matrix, relaxes the standard requirement of consensus stability, even permitting stabilization on an arbitrary unbalanced graph. The proofs of stability are constructed by robust contraction analysis, a relatively new nonlinear stability tool. An example of reconfiguring swarms of spacecraft in Low Earth Orbit shows the effectiveness of the proposed phase synchronization controller for a large number of complex EL systems moving in elliptical orbits.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2011
StatePublished - Dec 1 2011
EventAIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States
Duration: Aug 8 2011Aug 11 2011

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2011

Other

OtherAIAA Guidance, Navigation and Control Conference 2011
CountryUnited States
CityPortland, OR
Period8/8/118/11/11

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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