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A Common Framework for Attitude Synchronization of Unit Vectors in Networks with Switching Topology
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.
2016 (English)In: 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers (IEEE), 2016, 3530-3536 p., 7798799Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we study attitude synchronization for elements in the unit sphere of R-3 and for elements in the 3D rotation group, for a network with switching topology. The agents' angular velocities are assumed to be the control inputs, and a switching control law for each agent is devised that guarantees synchronization, provided that all elements are initially contained in a given region, unknown to the network. The control law is decentralized and it does not require a common orientation frame among all agents. We refer to synchronization of unit vectors in R3 as incomplete synchronization, and of 3D rotation matrices as complete synchronization. Our main contribution lies on showing that these two problems can be analyzed under a common framework, where all elements' dynamics are transformed into unit vectors dynamics on a sphere of appropriate dimension.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 3530-3536 p., 7798799
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-208565DOI: 10.1109/CDC.2016.7798799ISI: 000400048103112Scopus ID: 2-s2.0-85010739115ISBN: 978-1-5090-1837-6 (print)OAI: oai:DiVA.org:kth-208565DiVA: diva2:1109686
Conference
55th IEEE Conference on Decision and Control, CDC 2016, ARIA Resort and Casino, Las Vegas, United States, 12 December 2016 through 14 December 2016
Note

QC 20170614

Available from: 2017-06-14 Created: 2017-06-14 Last updated: 2017-06-14Bibliographically approved

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CiteExportLink to record
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