[en] The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.
Research center :
- Luxembourg Centre for Systems Biomedicine (LCSB): Systems Control (Goncalves Group)
Disciplines :
Electrical & electronics engineering
Author, co-author :
Wei, Jieqiang; KTH Royal Institute of Technology, Stockholm Sweden
Zhang, Silun; KTH Royal Institute of Technology, Stockholm Sweden
Adaldo, Antonio; KTH Royal Institute of Technology, Stockholm Sweden
THUNBERG, Johan ; University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB)
Hu, Xiaoming; KTH Royal Institute of Technology, Stockholm Sweden
Johansson, Karl. H.; KTH Royal Institute of Technology, Stockholm Sweden
External co-authors :
yes
Language :
English
Title :
Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols
