Nonlinear Model Reduction and Decentralized Control of Tethered Formation Flight

@inproceedings{Chung2006NonlinearMR,
  title={Nonlinear Model Reduction and Decentralized Control of Tethered Formation Flight},
  author={Soon-Jo Chung and Jean-Jacques E. Slotine and David W. Miller},
  year={2006}
}
This paper describes a fully decentralized nonlinear control law for spinning tethered formation flight, based on exploiting geometric symmetries to reduce the original nonlinear dynamics into simpler stable dynamics. Motivated by oscillation synchronization inbiological systems,weuse contraction theory to prove that a control law stabilizing a single… CONTINUE READING