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Published on: January 9, 2016
Synchronization of multiple rigid body systems: A survey
Xin Jin1,2, Daniel W C Ho3, Yang Tang1
1The Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Shanghai 200237, China.
Abstract:
The multi-agent system has been a hot topic in the past few decades owing to its lower cost, higher robustness, and higher flexibility. As a particular multi-agent system, the multiple rigid body system received a growing interest for its wide applications in transportation, aerospace, and ocean exploration. Due to the non-Euclidean configuration space of attitudes and the inherent nonlinearity of the dynamics of rigid body systems, synchronization of multiple rigid body systems is quite challenging. This paper aims to present an overview of the recent progress in synchronization of multiple rigid body systems from the view of two fundamental problems. The first problem focuses on attitude synchronization, while the second one focuses on cooperative motion control in that rotation and translation dynamics are coupled. Finally, a summary and future directions are given in the conclusion.
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