Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols

Wei, Jieqiang; Zhang, Silun; Adaldo, Antonio; Thunberg, Johan; Hu, Xiaoming; Johansson, Karl. H.

doi:10.1109/TAC.2018.2797179

Reference : Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols


	Document type :	Scientific journals : Article
	Discipline(s) :	Engineering, computing & technology : Electrical & electronics engineering
	Focus Areas :	Computational Sciences
	To cite this reference:	http://hdl.handle.net/10993/35327

Title :	Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols
Language :	English
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]
Publication date :	In press
Journal title :	IEEE Transactions on Automatic Control
Publisher :	IEEE
Peer reviewed :	Yes (verified by ORBi^lu)
Audience :	International
ISSN :	0018-9286
City :	Piscataway
Country :	NJ
Keywords :	[en] Attitude control ; Synchronization ; Protocols ; Convergence ; Aerospace electronics
Abstract :	[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 centres :	Luxembourg Centre for Systems Biomedicine (LCSB): Systems Control (Goncalves Group)
Funders :	Fonds National de la Recherche - FnR
Permalink :	http://hdl.handle.net/10993/35327
DOI :	10.1109/TAC.2018.2797179
Other URL :	https://arxiv.org/pdf/1705.02821.pdf

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