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Finite-time attitude synchronization with a discontinuous protocol
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
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: 13th IEEE International Conference on Control and Automation, ICCA 2017, IEEE Computer Society, 2017, p. 192-197, article id 8003058Conference paper, Published paper (Refereed)
Abstract [en]

A finite-time attitude synchronization problem is considered in this paper where the rotation of each rigid body is expressed using the axis-angle representation. One simple discontinuous and distributed controller using the vectorized signum function is proposed. This controller only involves the sign of the state differences of adjacent neighbors. In order to avoid the singularity introduced by the axis-angular representation, an extra constraint is added to the initial condition. It is proved that for some initial conditions, the control law achieves finite-time attitude synchronization. One simulated example is provided to verify the usage of the control protocol designed in this paper.

Place, publisher, year, edition, pages
IEEE Computer Society, 2017. p. 192-197, article id 8003058
Series
IEEE International Conference on Control and Automation, ICCA, ISSN 1948-3449
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-223033DOI: 10.1109/ICCA.2017.8003058ISI: 000427123500034Scopus ID: 2-s2.0-85029908721ISBN: 9781538626795 OAI: oai:DiVA.org:kth-223033DiVA, id: diva2:1182973
Conference
13th IEEE International Conference on Control and Automation, ICCA 2017, Ohrid, Macedonia, 3 July 2017 through 6 July 2017
Funder
Swedish Research CouncilSwedish Foundation for Strategic Research Knut and Alice Wallenberg Foundation
Note

QC 20180215

Available from: 2018-02-15 Created: 2018-02-15 Last updated: 2018-04-03Bibliographically approved

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Wei, JieqiangZhang, SilunAdaldo, AntonioHu, Xiaoming

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Wei, JieqiangZhang, SilunAdaldo, AntonioHu, XiaomingJohansson, Karl Henrik
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