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A Common Framework for Complete and Incomplete Attitude Synchronization in Networks With Switching Topology
KTH, School of Electrical Engineering and Computer Science (EECS).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2020 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 65, no 1, p. 271-278Article in journal (Refereed) Published
Abstract [en]

In this paper, we study attitude synchronization for elements in the unit sphere in $\mathbb {R}<^>{\scriptscriptstyle {\scriptscriptstyle {3}}}$ and for elements in the three-dimensional (3-D) rotation group, for a network with switching topology. The agents' angular velocities are assumed to be the control inputs, and a switching control law for each agent is devised that guarantees synchronization, provided that all elements are initially contained in a region, which we identify later in the paper. The control law is decentralized and it does not require a common orientation frame among all agents. We refer to synchronization of unit vectors in $\mathbb {R}<^>{\scriptscriptstyle {3}}$ as incomplete synchronization, and of 3-D rotation matrices as complete synchronization. Our main contribution lies in showing that these two problems can be analyzed under a common framework, where all agents' dynamics are transformed into unit vectors dynamics on a sphere of appropriate dimension.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2020. Vol. 65, no 1, p. 271-278
Keywords [en]
Angular velocity control, attitude control, decentralized control, networked control systems, nonlinear control systems
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-267168DOI: 10.1109/TAC.2019.2912531ISI: 000506851100020Scopus ID: 2-s2.0-85077803649OAI: oai:DiVA.org:kth-267168DiVA, id: diva2:1391345
Note

QC 20200204

Available from: 2020-02-04 Created: 2020-02-04 Last updated: 2020-02-04Bibliographically approved

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Boskos, DimitrisDimarogonas, Dimos V.

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