Reference : Intrinsic reduced attitude formation with ring inter-agent graph
Scientific journals : Article
Engineering, computing & technology : Electrical & electronics engineering
Systems Biomedicine
http://hdl.handle.net/10993/34957
Intrinsic reduced attitude formation with ring inter-agent graph
English
Wenjun, Song []
Markdahl, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Zhang, Silun []
Hu, Xiaoming []
Hong, Yiguang []
Sep-2017
Automatica
Pergamon Press - An Imprint of Elsevier Science
85
193-201
Yes (verified by ORBilu)
International
0005-1098
Oxford
United Kingdom
[en] Attitude control ; Distributed control ; Asymptotic stability ; Nonlinear systems ; Linearization
[en] This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that reversing the sign of a classic consensus protocol yields asymptotical convergence to formations whose shape depends on the parity of the group size. Specifically, in the case of even parity the reduced attitudes converge asymptotically to a pair of antipodal points and distribute equidistantly on a great circle in the case of odd parity. Moreover, when the inter-agent graph is an undirected ring, the desired formation is shown to be achieved from almost all initial states.
Researchers
http://hdl.handle.net/10993/34957

File(s) associated to this reference

Fulltext file(s):

FileCommentaryVersionSizeAccess
Open access
Intrinsic_Reduced_Attitude_Formation_with_Ring_Int.pdfAuthor preprint1.3 MBView/Open

Bookmark and Share SFX Query

All documents in ORBilu are protected by a user license.