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Intrinsic reduced attitude formation with ring inter-agent graph
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Mathematics (Div.).
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Mathematics (Div.).
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
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2017 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 85, p. 193-201Article in journal (Refereed) Published
Abstract [en]

This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that reversing the sign of a classic consensus protocol yields asymptotical convergence to formations whose shape depends on the parity of the group size. Specifically, in the case of even parity the reduced attitudes converge asymptotically to a pair of antipodal points and distribute equidistantly on a great circle in the case of odd parity. Moreover, when the inter-agent graph is an undirected ring, the desired formation is shown to be achieved from almost all initial states.

Place, publisher, year, edition, pages
2017. Vol. 85, p. 193-201
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Control Engineering
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URN: urn:nbn:se:kth:diva-218226DOI: 10.1016/j.automatica.2017.07.015ISI: 000414818100022Scopus ID: 2-s2.0-85027847064OAI: oai:DiVA.org:kth-218226DiVA, id: diva2:1160825
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QC 20171128

Available from: 2017-11-28 Created: 2017-11-28 Last updated: 2017-11-28Bibliographically approved

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Song, WenjunMarkdahl, JohanZhang, SilunHu, Xiaoming

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