2011 Volume 4 Issue 6 Pages 430-438
A consensus control framework for configuration of two underactuated planar rigid bodies is developed. Specifically, we propose a series of control laws that achieve asymptotic consensus between the underactuated planar rigid bodies that possess small-time local controllability. The results are predicated on the characterizations of the approximate solution and the inversion algorithm for underactuated systems. Finally, we present a numerical example to show the utility of the proposed approach.