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

Chung, Soon-Jo and Chang, Insu and Hadaegh, Fred Y. (2011) Phase Synchronization Control of Robotic Networks on Periodic Ellipses with Adaptive Network Topologies. In: AIAA Guidance, Navigation, and Control Conference 2011. American Institute of Aeronautics and Astronautics (AIAA) , Reston, VA, pp. 1-19. ISBN 978-1-60086-952-5. http://resolver.caltech.edu/CaltechAUTHORS:20161130-081544822

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2011-6631DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2011-6631PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2011 California Institute of Technology. The research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. Government sponsorship acknowledged. The authors gratefully acknowledge Lars Blackmore and Daniel Morgan for constructive comments.
Group:GALCIT
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Other Numbering System NameOther Numbering System ID
AIAA Paper2011-6631
Record Number:CaltechAUTHORS:20161130-081544822
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161130-081544822
Official Citation:Soon-Jo Chung, Insu Chang, and Fred Hadaegh. "Phase Synchronization Control of Robotic Networks on Periodic Ellipses with Adaptive Network Topologies", AIAA Guidance, Navigation, and Control Conference, Guidance, Navigation, and Control and Co-located Conferences, http://dx.doi.org/10.2514/6.2011-6631
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72428
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:30 Nov 2016 17:06
Last Modified:04 Jan 2017 19:10

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