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Relative attitude formation control of multi-agent systems
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
2017 (English)In: International Journal of Robust and Nonlinear Control, ISSN 1049-8923, E-ISSN 1099-1239, Vol. 27, no 18, 4457-4477 p.Article in journal (Refereed) Published
Abstract [en]

This paper investigates the relative attitude formation control problem for a group of rigid-body agents using relative attitude information on SO(3). On the basis of the gradient of a potential function, a family of distributed angular velocity control laws, which differ in the sense of a geodesic distance dependent function, is proposed. With directed and switching interaction topologies, the desired relative attitude formation is showed to be achieved asymptotically provided that the topology is jointly quasi-strongly connected. Moreover, several sufficient conditions for the desired formation to be achieved exponentially and almost globally are given. Additionally, numerical examples are provided to illustrate the effectiveness of the proposed distributed control laws.

Place, publisher, year, edition, pages
John Wiley & Sons, 2017. Vol. 27, no 18, 4457-4477 p.
Keyword [en]
attitude control, multi-agent systems, attitude formation, joint connectivity, asymptotic stability
National Category
Control Engineering Mathematics
Identifiers
URN: urn:nbn:se:kth:diva-220469DOI: 10.1002/rnc.3803ISI: 000415902300017Scopus ID: 2-s2.0-85017404697OAI: oai:DiVA.org:kth-220469DiVA: diva2:1169055
Note

QC 20171222

Available from: 2017-12-22 Created: 2017-12-22 Last updated: 2017-12-22Bibliographically approved

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Song, WenjunHu, Xiaoming

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