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Intrinsic Formation Control of Regular Polyhedra for Reduced Attitudes
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. Harbin Inst Technol, Control & Simulat Ctr, Harbin 150001, Heilongjiang, Peoples R China.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2017 (English)In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, IEEE , 2017, p. 1002-1007Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses formation control of reduced attitudes in which a continuous protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol contains only relative reduced attitude measurements and does not depend on any particular parametrization as is usually used in the literature. A key feature of the control proposed is that it is intrinsic in the sense that it does not need to incorporate any information of the desired formation. Instead, the achieved formation pattern is totally attributed to the geometric properties of the space and the designed inter-agent connection topology. Using a novel coordinates transformation, asymptotic stability of the desired formations is proven by studying stability of a constrained nonlinear system. In addition, a methodology to investigate stability of such constrained systems is also presented.

Place, publisher, year, edition, pages
IEEE , 2017. p. 1002-1007
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Mathematics
Identifiers
URN: urn:nbn:se:kth:diva-223880DOI: 10.1109/CDC.2017.8263789ISI: 000424696901007Scopus ID: 2-s2.0-85046117021ISBN: 978-1-5090-2873-3 (print)OAI: oai:DiVA.org:kth-223880DiVA, id: diva2:1187537
Conference
IEEE 56th Annual Conference on Decision and Control (CDC), DEC 12-15, 2017, Melbourne, AUSTRALIA
Note

QC 20180305

Available from: 2018-03-05 Created: 2018-03-05 Last updated: 2018-11-14Bibliographically approved

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Zhang, SilunHu, Xiaoming

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CiteExportLink to record
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Citation style
  • apa
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  • modern-language-association-8th-edition
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  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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