Reference : Distributed high-gain attitude synchronization using rotation vectors
Scientific journals : Article
Engineering, computing & technology : Multidisciplinary, general & others
Distributed high-gain attitude synchronization using rotation vectors
Song, W. []
Thunberg, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Hu, X. []
Hong, Y. []
Journal of Systems Science and Complexity
[en] Attitude synchronization ; directed graph ; distributed control ; multi-agent systems
[en] This paper addresses attitude synchronization problems for systems of multiple rigid-body agents with directed interconnection topologies. Two scenarios which differ in available information are considered. In the first scenario the agents can obtain their rotations and angular velocities relative to an inertial reference frame and transmit these information to their neighbors, while in the second scenario the agents can only obtain their own angular velocities and measure the relative rotations and relative angular velocities of their neighbors. By using rotation vectors and the high gain control, the authors provide torque control laws asymptotically synchronizing the rotations of the system almost globally for the first scenario and with initial rotations of the agents contained in a convex ball of SO(3) for the second scenario. An illustrative example is provided to show the synchronization results for both scenarios.
This work was supported by Beijing Natural Science Foundation under Grant No. 4152057 and 973 program (2014CB845301/2/3).

File(s) associated to this reference

Fulltext file(s):

Limited access
Distributed high-gain attitude synchronization using Rotation Vectors.pdfPublisher postprint374.59 kBRequest a copy

Bookmark and Share SFX Query

All documents in ORBilu are protected by a user license.