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Distributed attitude synchronization control of multi-agent systems with directed 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. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-0177-1993
2012 (English)In: Intelligent Control and Automation (WCICA), 2012 10th World Congress on, IEEE , 2012, 958-963 p.Conference paper (Refereed)
Abstract [en]

In the present paper we consider the problem of attitude synchronization for a system of rigid body agents. We provide distributed kinematic control laws for two different synchronization problems. In the two problems the objective is the same, i.e., to synchronize the orientations of the agents, but what is assumed to be measurable by the agents differs. In problem 1 the agents measure their own orientations in a global reference frame, and obtain the orientations of their neighbors by means of communication. In problem 2 the agents only measure the relative orientations to their neighbors. By using the axis-angle representation of the orientation, we show that simple linear control laws solve both synchronization problems. Moreover we show that our proposed control laws work for directed and connected topologies on almost all SO(3) for problem 1 and on convex balls in SO(3) for problem 2.

Place, publisher, year, edition, pages
IEEE , 2012. 958-963 p.
Keyword [en]
Attitude synchronization, consensus on manifolds, directed graphs, distributed control, multi-agent systems
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-116848DOI: 10.1109/WCICA.2012.6358017ScopusID: 2-s2.0-84872286211ISBN: 978-146731398-8OAI: diva2:601266
10th World Congress on Intelligent Control and Automation, WCICA 2012, 6 July 2012 through 8 July 2012, Beijing

QC 20130129

Available from: 2013-01-29 Created: 2013-01-28 Last updated: 2016-04-22Bibliographically approved

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Thunberg, JohanHu, Xiaoming
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ReferencesLink to record
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