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Family of controllers for attitude synchronization on the sphere
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-5840-3767
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
2017 (English)In: Automatica, ISSN 0005-1098, Vol. 75, p. 271-281Article in journal (Refereed) Published
Abstract [en]

In this paper we study a family of controllers that guarantees attitude synchronization for a network of agents in the unit sphere domain, i.e.,S-2. We propose distributed continuous controllers for elements whose dynamics are controllable, i.e., control with torque as command, and which can be implemented by each individual agent without the need of a common global orientation frame among the network, i.e., it requires only local information that can be measured by each individual agent from its own orientation frame. The controllers are constructed as functions of distance functions in S-2, and we provide conditions on those distance functions that guarantee that i) a synchronized network of agents is locally asymptotically stable for an arbitrary connected network graph; ii) a synchronized network is asymptotically achieved for almost all initial conditions in a tree network graph. When performing synchronization along a principal axis, we propose controllers that do not require full torque, but rather torque orthogonal to that principal axis; while for synchronization along other axes, the proposed controllers require full torque. We also study the equilibria configurations that come with specific types of network graphs. The proposed strategies can be used in attitude synchronization of swarms of under actuated rigid bodies, such as satellites.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 75, p. 271-281
Keywords [en]
Attitude control, Synchronization, Coordinated control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-200403DOI: 10.1016/j.automatica.2016.09.033ISI: 000391077800035Scopus ID: 2-s2.0-84994577785OAI: oai:DiVA.org:kth-200403DiVA, id: diva2:1069048
Conference
54th IEEE Conference on Decision and Control (CDC), DEC 15-18, 2015, Osaka, Japan
Note

QC 20170127

Available from: 2017-01-27 Created: 2017-01-27 Last updated: 2017-01-27Bibliographically approved

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Pereira, Pedro O.Dimarogonas, Dimos V.
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  • apa
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