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Distributed relative attitude formation control of multiple rigid-body agents with switching topologies
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2013 (English)In: Chinese Control Conf., CCC, 2013, 7125-7130 p.Conference paper (Refereed)
Abstract [en]

This paper formulates and investigates the relative attitude formation problem of a group of rigid-body agents with directed and switching sensing topologies. Each agent can only measure the attitudes of its neighbors from the body-fixed frame of the agent. Based on the axis-angle representation of the error attitude, we present a distributed protocol and then show how to achieve the desired relative attitude formation, provided that the inter-agent topology graph is jointly connected and each relative attitude between agents initially is contained within a geodesic ball of radius less than 2p/3 centered at its desired relative attitude. A numerical example is provided to show the effectiveness of the proposed angular velocity control scheme.

Place, publisher, year, edition, pages
2013. 7125-7130 p.
, Chinese Control Conference, ISSN 1934-1768
Keyword [en]
Attitude formation, Axis-angle representation, Joint connectivity, Multi-agent systems
National Category
URN: urn:nbn:se:kth:diva-140048ScopusID: 2-s2.0-84890514252ISBN: 9789881563835OAI: diva2:689381
32nd Chinese Control Conference, CCC 2013, 26 July 2013 through 28 July 2013, Xi'an

QC 20140120

Available from: 2014-01-20 Created: 2014-01-16 Last updated: 2014-01-20Bibliographically approved

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Hu, Xiaoming
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Optimization and Systems Theory

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ReferencesLink to record
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