SICE Journal of Control, Measurement, and System Integration
Online ISSN : 1884-9970
Print ISSN : 1882-4889
ISSN-L : 1882-4889
CONTRIBUTED PAPERS
Configuration Consensus of Two Underactuated Planar Rigid Bodies
Maclaurin HUTAGALUNGTomohisa HAYAKAWATakateru URAKUBO
Author information
JOURNALS FREE ACCESS

2011 Volume 4 Issue 6 Pages 430-438

Details
Abstract

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.

Information related to the author
© 2011 The Society of Instrument and Control Engineers
Previous article Next article
feedback
Top