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Distributed high-gain attitude synchronization using rotation vectors
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
2015 (English)In: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 28, no 2, 289-304 p.Article in journal (Refereed) Published
Abstract [en]

This paper addresses attitude synchronization problems for systems of multiple rigid-body agents with directed interconnection topologies. Two scenarios which differ in available information are considered. In the first scenario the agents can obtain their rotations and angular velocities relative to an inertial reference frame and transmit these information to their neighbors, while in the second scenario the agents can only obtain their own angular velocities and measure the relative rotations and relative angular velocities of their neighbors. By using rotation vectors and the high gain control, the authors provide torque control laws asymptotically synchronizing the rotations of the system almost globally for the first scenario and with initial rotations of the agents contained in a convex ball of SO(3) for the second scenario. An illustrative example is provided to show the synchronization results for both scenarios.

Place, publisher, year, edition, pages
2015. Vol. 28, no 2, 289-304 p.
Keyword [en]
Attitude synchronization, directed graph, distributed control, multi-agent systems
National Category
URN: urn:nbn:se:kth:diva-163959DOI: 10.1007/s11424-015-3107-3ISI: 000350370200002ScopusID: 2-s2.0-84923788434OAI: diva2:809855

QC 20150505

Available from: 2015-05-05 Created: 2015-04-13 Last updated: 2015-05-05Bibliographically approved

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