Reference : Intrinsic reduced attitude formation with ring inter-agent graph
Scientific journals : Article
Engineering, computing & technology : Electrical & electronics engineering
Systems Biomedicine
Intrinsic reduced attitude formation with ring inter-agent graph
Wenjun, Song []
Markdahl, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Zhang, Silun []
Hu, Xiaoming []
Hong, Yiguang []
Pergamon Press - An Imprint of Elsevier Science
Yes (verified by ORBilu)
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.

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