Roto-Translation Invariant Formation of Multiple Underactuated Planar Rigid Bodies

He, Xingui; Zhai, Jinpeng; Zhang, Geng

doi:10.1109/tcyb.2021.3089599

Cited by 5 publications

(4 citation statements)

References 39 publications

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“…But in order to maintain such a formation pattern, the velocities should be restricted as well. Thus, we give the condition of formation maintenance as follows, which is firstly proposed in [33].…”

Section: Rti Formation Feasibility Analysismentioning

confidence: 99%

“…According to (33), we have sin ψτ x Ad − cos ψτ y Ad = 0. Thus, the formulas ( 39) and ( 40) always hold no matter what value of the roll angle φ is predefined.…”

Section: )mentioning

confidence: 99%

“…Different from the 2-D rotation which has only one degree of freedom (DOF), the rotation kinematics in 3D is not an integrator anymore but has a nonlinear formulation with the coupling of three DOFs. This leads to the rigid body's attitude being related to the rotation sequence, which brings essential challenges than the 2-D case as given in [33]. Particularly, in order to globally and uniquely depict the rotation, the fixed-wing UAV's kinematics is established in the Lie group SE(3) [34], [35], [36], [37], [38], avoiding the singularity and unwinding phenomenon resulting from Euler angles.…”

Section: Introductionmentioning

confidence: 99%

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Roto-Translation Invariant Formation of Fixed-Wing UAVs in 3D: Feasibility and Control

He¹,

Li²,

Wang³

et al. 2023

Preprint

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This paper investigates the formation of fixed-wing UAVs in 3D, which communicate via a directed acyclic graph. Different from common formation problems, we consider the roto-translation invariant (RTI) formation, where the "rototranslation" refers to a rigid-body motion obtained by composing rotation and translation. Besides, the fixed-wing UAV is modelled by a 3-D nonholonomic constrained rigid body instead of a particle agent. The main results of this paper include proposing the formation feasibility conditions and designing the formation controller. Firstly, we define the RTI formation and propose the conditions to guarantee that the formations are feasible for the fixed-wing UAVs under the nonholonomic and input saturation constraints. Secondly, given feasible formations, we design a formation controller by introducing a virtual leader and employing the compensation of rotation, followed by proving the stability of the closed-loop system. Finally, simulation examples are presented to verify the theoretical results.al with the motion coupling among multiple robots. Finally, numerical simulations are conducted to verify the theoretical results.

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Section: Rti Formation Feasibility Analysismentioning

confidence: 99%

“…According to (33), we have sin ψτ x Ad − cos ψτ y Ad = 0. Thus, the formulas ( 39) and ( 40) always hold no matter what value of the roll angle φ is predefined.…”

Section: )mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Roto-Translation Invariant Formation of Fixed-Wing UAVs in 3D: Feasibility and Control

He¹,

Li²,

Wang³

et al. 2023

Preprint

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“…Sparsity Residual Constraint for Image Restoration;TCYB Nov. 2022 12440- 12453 Zhai, G., see Jia, J.,TCYB July 2022 7094-7106 Zhai, J., see Shu, F.,TCYB July 2022 7060-7068 Zhai, J., see He, X.,TCYB Dec. 2022 12818-12831 Zhai, Y.,Liu, Z., Guan, Z., and Gao, Z., Resilient Delayed Impulsive Control for Consensus of Multiagent Networks Subject to Malicious Agents; TCYB July 2022 7196-7205 Zhan, M., Kou, G., Dong, Y., Chiclana, F., and Herrera-Viedma, E., Bounded Confidence Evolution of Opinions and Actions in Social Networks; TCYB July 2022 7017-7028 + Check author entry for coauthors Zhan, Q., see Xie, Z., TCYB July 2022 6434-6441 Zhan, Q., lutional Networks for the Unsupervised Representation Learning of Human Motions; TCYB Jan. 2022 398-410 Zhang, C., Qin, J., Ma, Q., Shi, Y., and Kang, Y., On Containment for Linear Systems With Switching Topologies: A Novel State Transition Matrix Perspective; TCYB Feb. 2022 1061-1072 Zhang, C., Yang, H., and Jiang, B., Fault Estimation and Accommodation of Fractional-Order Nonlinear, Switched, and Interconnected Systems; TCYB March 2022 1443-1453 Zhang, C., see Shen, D., TCYB April 2022 1979-1991 Zhang, C., see Lin, W., TCYB May 2022 3359-3369 Zhang, C., see Long, F., TCYB June 2022 5356-5366 Zhang, C., see Li, H., TCYB July 2022 6993-7001 Zhang, C., see Zhang, Y., TCYB Aug. 2022 8286-8299 Zhang, C., see Li, J., TCYB Aug. 2022 7732-7741 Zhang, C., see Jin, L., TCYB Aug. 2022 7825-7836 Zhang, C., see Tang, Y.,…”

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confidence: 99%

2022 Index IEEE Transactions on Cybernetics Vol. 52

2022

IEEE Trans. Cybern.

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This index covers all technical items-papers, correspondence, reviews, etc.-that appeared in this periodical during 2022, and items from previous years that were commented upon or corrected in 2022. Departments and other items may also be covered if they have been judged to have archival value.The Author Index contains the primary entry for each item, listed under the first author's name. The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination. The Subject Index contains entries describing the item under all appropriate subject headings, plus the first author's name, the publication abbreviation, month, and year, and inclusive pages. Note that the item title is found only under the primary entry in the Author Index.

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Roto-translation invariant formation of fixed-wing UAVs in 3D: Feasibility and control

He,

Li,

Wang

et al. 2024

Automatica

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Roto-Translation Invariant Formation of Multiple Underactuated Planar Rigid Bodies

Cited by 5 publications

References 39 publications

Roto-Translation Invariant Formation of Fixed-Wing UAVs in 3D: Feasibility and Control

Roto-Translation Invariant Formation of Fixed-Wing UAVs in 3D: Feasibility and Control

2022 Index IEEE Transactions on Cybernetics Vol. 52

Roto-translation invariant formation of fixed-wing UAVs in 3D: Feasibility and control

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