Distributed backstepping control of multiple thrust-propelled vehicles on a balanced graph

  title={Distributed backstepping control of multiple thrust-propelled vehicles on a balanced graph},
  author={Dongjun Lee},
We propose novel distributed exponentially-converging control frameworks for flocking and centroid trajectory tracking of multiple thrust-propelled vehicles (TPVs), which consist of the under-actuated translation dynamics on E(3) with one-dimensional thrust-force input and the fully-actuated attitude kinematics on SO(3) with angular-rates inputs; and evolves on a strongly-connected, yet, balanced information graph G. To address the issue of underactuation, we utilize the backstepping technique… CONTINUE READING
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