[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.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Wenjun, Song
Markdahl, Johan ; University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB)
Zhang, Silun
Hu, Xiaoming
Hong, Yiguang
External co-authors :
yes
Language :
English
Title :
Intrinsic reduced attitude formation with ring inter-agent graph
Publication date :
September 2017
Journal title :
Automatica
ISSN :
0005-1098
Publisher :
Pergamon Press - An Imprint of Elsevier Science, Oxford, United Kingdom