[en] This paper addresses the attitude synchronization problem of multiple rigid body agents in SO(3) with directed and switching interconnection topologies. Using the axis-angle representation of the orientation, a distributed controller based on differences between the orientations of agents in a global frame is proposed. In the case of the balanced interconnection graph, the attitude synchronization is achieved with the well-known mild assumption (that is, uniform joint strong connection). To demonstrate the effectiveness of the proposed control scheme, an illustrative example is provided.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Song, W.
THUNBERG, Johan ; University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB)
Hong, Y.
Hu, X.
External co-authors :
yes
Language :
English
Title :
Distributed attitude synchronization control of multi-agent systems with time-varying topologies
Publication date :
2012
Event name :
10th World Congress on Intelligent Control and Automation
Event place :
Beijing, China
Event date :
July 6 to 8, 2012
Main work title :
Proceedings of the 10th World Congress on Intelligent Control and Automation
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