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Distributed attitude synchronization control of multi-agent systems with time-varying topologies
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
2012 (English)In: Intelligent Control and Automation (WCICA), 2012 10th World Congress on, IEEE , 2012, 946-951 p.Conference paper (Refereed)
Abstract [en]

This paper addresses the attitude synchronization problem of multiple rigid body agents in SO(3) with directed and switching interconnection topologies. Using the axis-angle representation of the orientation, a distributed controller based on differences between the orientations of agents in a global frame is proposed. In the case of the balanced interconnection graph, the attitude synchronization is achieved with the wellknown mild assumption (that is, uniform joint strong connection). To demonstrate the effectiveness of the proposed control scheme, an illustrative example is provided.

Place, publisher, year, edition, pages
IEEE , 2012. 946-951 p.
Keyword [en]
Attitude synchronization, distributed control, joint connectivity, multi-agent systems
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-116856DOI: 10.1109/WCICA.2012.6358015ScopusID: 2-s2.0-84872355747ISBN: 978-146731398-8OAI: diva2:601133
10th World Congress on Intelligent Control and Automation, WCICA 2012, 6 July 2012 through 8 July 2012, Beijing

QC 20130128

Available from: 2013-01-28 Created: 2013-01-28 Last updated: 2016-04-25Bibliographically approved

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ReferencesLink to record
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