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Passivity-based output synchronization and flocking algorithm in SE(3)
2008
2008 47th IEEE Conference on Decision and Control
This paper addresses passivity-based output synchronization and a collision avoidance problem of rigid bodies in the Special Euclidean group SE(3) under the assumption that the rigid bodies exchange information over weighted digraphs. We first develop a passivity-based distributed velocity input law to achieve output synchronization. Using the notion of algebraic connectivity, we then establish a connection between the speed of convergence and the structure of the interconnection graph in
doi:10.1109/cdc.2008.4739009
dblp:conf/cdc/IgarashiHFS08
fatcat:peozzqcqdnc53g74x3lgqrzp4i