Motion Feasibility Conditions for Multi-Agent Control Systems on Lie Groups

Autor:	Colombo, Leonardo J., Dimarogonas, Dimos V.
Rok vydání:	2018
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Multiagent Systems Mathematics - Dynamical Systems Mathematics - Optimization and Control 22E70 37K05 37J15 37M15 37N35 49J15 91B69 93C10
Druh dokumentu:	Working Paper
Popis:	We study the problem of motion feasibility for multiagent control systems on Lie groups with collision avoidance constraints. We first consider the problem for kinematic left invariant control systems and next, for dynamical control systems given by a left-trivialized Lagrangian function. Solutions of the kinematic problem give rise to linear combinations of the control inputs in a linear subspace annihilating the collision avoidance constraints. In the dynamical problem, motion feasibility conditions are obtained by using techniques from variational calculus on manifolds, given by a set of equations in a vector space, and Lagrange multipliers annihilating the constraint force that prevents deviation of solutions from a constraint submanifold. Comment: L. J. Colombo was partially supported by ACCESS Linnaeus Center (KTH), Ministerio de Econom{\i}a, Industria y Competitividad grant MTM2016-76702-P, i-Link project and La Caixa Foundation (LCF/BQ/PI19/11690016). D. V. Dimarogonas is supported by the Swedish Research Council (VR), Knut och Alice Wallenberg foundation (KAW), the H2020 Project Co4Robots and the H2020 ERC Starting Grant BUCOPHSYS
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1808.04612 Zobrazit plný text záznamu View this record from Arxiv