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Finite-time attitude synchronization with distributed discontinuous protocols
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
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2018 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523Article in journal (Refereed) Published
Abstract [en]

The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-227718DOI: 10.1109/TAC.2018.2797179OAI: oai:DiVA.org:kth-227718DiVA, id: diva2:1205250
Note

QC 20180523

Available from: 2018-05-11 Created: 2018-05-11 Last updated: 2018-05-23Bibliographically approved

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Wei, JieqiangZhang, SilunAdaldo, AntonioHu, XiaomingJohansson, Karl H.

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