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Finite-time attitude synchronization with a discontinuous protocol
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.ORCID-id: 0000-0003-0177-1993
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2017 (engelsk)Inngår i: 13th IEEE International Conference on Control and Automation, ICCA 2017, IEEE Computer Society, 2017, s. 192-197, artikkel-id 8003058Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

A finite-time attitude synchronization problem is considered in this paper where the rotation of each rigid body is expressed using the axis-angle representation. One simple discontinuous and distributed controller using the vectorized signum function is proposed. This controller only involves the sign of the state differences of adjacent neighbors. In order to avoid the singularity introduced by the axis-angular representation, an extra constraint is added to the initial condition. It is proved that for some initial conditions, the control law achieves finite-time attitude synchronization. One simulated example is provided to verify the usage of the control protocol designed in this paper.

sted, utgiver, år, opplag, sider
IEEE Computer Society, 2017. s. 192-197, artikkel-id 8003058
Serie
IEEE International Conference on Control and Automation, ICCA, ISSN 1948-3449
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-223033DOI: 10.1109/ICCA.2017.8003058ISI: 000427123500034Scopus ID: 2-s2.0-85029908721ISBN: 9781538626795 (tryckt)OAI: oai:DiVA.org:kth-223033DiVA, id: diva2:1182973
Konferanse
13th IEEE International Conference on Control and Automation, ICCA 2017, Ohrid, Macedonia, 3 July 2017 through 6 July 2017
Forskningsfinansiär
Swedish Research CouncilSwedish Foundation for Strategic Research Knut and Alice Wallenberg Foundation
Merknad

QC 20180215

Tilgjengelig fra: 2018-02-15 Laget: 2018-02-15 Sist oppdatert: 2018-04-03bibliografisk kontrollert

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