Distributed relative attitude formation control of multiple rigid-body agents with switching topologies
2013 (English)In: Chinese Control Conf., CCC, 2013, 7125-7130 p.Conference paper (Refereed)
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
Attitude formation, Axis-angle representation, Joint connectivity, Multi-agent systems
IdentifiersURN: urn:nbn:se:kth:diva-140048ScopusID: 2-s2.0-84890514252ISBN: 9789881563835OAI: oai:DiVA.org:kth-140048DiVA: diva2:689381
32nd Chinese Control Conference, CCC 2013, 26 July 2013 through 28 July 2013, Xi'an
QC 201401202014-01-202014-01-162014-01-20Bibliographically approved