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Finite-time attitude synchronization with distributed discontinuous protocols
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
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2018 (engelsk)Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, nr 10, s. 3608-3615Artikkel i tidsskrift (Fagfellevurdert) Published
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.

sted, utgiver, år, opplag, sider
Institute of Electrical and Electronics Engineers (IEEE), 2018. Vol. 63, nr 10, s. 3608-3615
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Identifikatorer
URN: urn:nbn:se:kth:diva-227718DOI: 10.1109/TAC.2018.2797179ISI: 000446331200043Scopus ID: 2-s2.0-85040999383OAI: oai:DiVA.org:kth-227718DiVA, id: diva2:1205250
Forskningsfinansiär
Swedish Research CouncilKnut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research
Merknad

QC 20180523

Tilgjengelig fra: 2018-05-11 Laget: 2018-05-11 Sist oppdatert: 2018-10-30bibliografisk kontrollert

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Wei, JieqiangZhang, SilunAdaldo, AntonioHu, XiaomingJohansson, Karl H.

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