Distributed attitude synchronization control of multi-agent systems with time-varying topologies

Song, W.; Thunberg, Johan; Hong, Y.; Hu, X.

doi:10.1109/WCICA.2012.6358015

Request a copy

Paper published in a book (Scientific congresses, symposiums and conference proceedings)

Distributed attitude synchronization control of multi-agent systems with time-varying topologies

Song, W.; Thunberg, Johan; Hong, Y. et al.

2012 • In Proceedings of the 10th World Congress on Intelligent Control and Automation

Peer reviewed

Permalink
https://hdl.handle.net/10993/20689

DOI
10.1109/WCICA.2012.6358015

Files (1)Send to Details Statistics Bibliography Similar publications

Files

Full Text

Distributed attitude synchronization control of multi-agent systems with time-varying topologies.pdf

Publisher postprint (157.92 kB)

Request a copy

All documents in ORBilu are protected by a user license.

Send to

RIS BibTex APA Chicago Permalink X Linkedin

Details

Abstract :

[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

Publisher :

IEEE

Pages :

946–951

Peer reviewed :

Peer reviewed

Available on ORBilu :

since 31 March 2015

Statistics

Number of views

45 (0 by Unilu)

Number of downloads

0 (0 by Unilu)

More statistics

Scopus citations^®

Scopus citations^®
without self-citations

WoS citations^™

109

Bibliography

F. Bullo, J. Cort́es, and S. Mart́inez, Distributed Control of Robotic Networks, ser. Applied Mathematics Series. Princeton University Press, 2009.
W. Ren and R. W. Beard, Distributed Consensus in Multi-vehicle Cooperative Control, ser. Communications and Control Engineering. London: Springer-Verlag, 2008.
A. Sarlette, R. Sepulchre, and N. E. Leonard, "Autonomous rigid body attitude synchronization," Automatica, vol. 45, no. 2, pp. 572-577, 2009.
H. Wang and Y. Xie, "A new analysis tool for attitude synchronization of multiple spacecraft with communication delays," in 30th Chinese Control Conference, 2011, pp. 4576-4581.
A. Abdessameud and A. Tayebi, "Attitude synchronization of a group of spacecraft without velocity measurements," IEEE Transactions on Automatic Control, vol. 54, no. 11, pp. 2642-2648, 2009.
B. Wu, D. Wang, and E. K. Poh, "Decentralized sliding-mode control for attitude synchronization in spacecraft formation," International Journal of Robust and Nonlinear Control, 2012.
W. Ren, "Distributed cooperative attitude synchronization and tracking for multiple rigid bodies," IEEE Transactions on Control Systems Technology, vol. 18, no. 2, pp. 383-392, 2010.
Z. Li and Z. Duan, "Distributed adaptive attitude synchronization of multiple spacecraft," SCIENCE CHINA Technological Sciences, vol. 54, no. 8, pp. 1992-1998, 2011.
E. Malis, F. Chaumette, and S. Boudet, "2-1/2-d visual servoing," IEEE Transactions on Robotics and Automation, vol. 15, no. 2, pp. 238-250, 1999.
J. Thunberg, E. Montijano, and X. Hu, "Distributed attitude synchronization control," in 50th IEEE Conference on Decision and Control and European Control Conference, 2011, pp. 1962-1967.
A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Transactions on Automatic Control, vol. 48, no. 6, pp. 988-1001, 2003.
Y. Hong, L. Gao, D. Cheng, and J. Hu, "Lyapunov-based approach to multiagent systems with switching jointly connected interconnection," IEEE Transactions on Automatic Control, vol. 52, no. 5, pp. 943-948, 2007.
D. Cheng, J. Wang, and X. Hu, "An extension of lasalle's invariance principle and its application to multi-agent consensus," IEEE Transactions on Automatic Control, vol. 53, no. 7, pp. 1765-1770, 2008.
G. Shi, K. H. Johansson, and Y. Hong, "Multi-agent systems reaching optimal consensus with directed communication graphs," in American Control Conference (ACC), 2011, pp. 5456-5461.
M. Moakher, "Means and averaging in the group of rotations," SIAM Journal on Matrix Analysis and Applications, vol. 24, no. 1, pp. 1-16, 2002.
W. Ren and Y. Cao, Distributed Coordination of Multi-agent Networks. London: Springer-Verlag, 2011.
L. B. Cremean and R. M. Murray, "Stability analysis of interconnected nonlinear systems under matrix feedback," in Proceedings of the 42nd IEEE Conference on Decision and Control, vol. 3, 2003, pp. 3078-3083.
A. Bacciotti and L. Mazzi, "An invariance principle for nonlinear switched systems," Systems & Control Letters, vol. 54, no. 11, pp. 1109-1119, 2005.
S. Sastry, Nonlinear Systems: Analysis, Stability, and Control. New York: Springer-Verlag, 1999.
M. D. Shuster, "A survey of attitude representation," J. of Astronautical Sciences, vol. 41, no. 4, pp. 439-517, 1993.