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Pose synchronization of rigid body networks with switching topologies
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2015 (English)In: Chinese Control Conference, CCC, IEEE Computer Society, 2015, 7639-7644 p.Conference paper (Refereed)Text
Abstract [en]

Coordination control of multiple rigid bodies attracts much attention of researchers due to its wide applications. This paper presents the pose synchronization problem of the moving rigid bodies whose dynamics is described by the group SE(3). The case of bidirectional neighbor graphs with switching interconnection topologies is considered. We design a distributed control law based on relative rotation matrices and relative positions between the neighboring rigid bodies, and show that the SE(3) reaches pose synchronization if and only if the neighbor graphs are infinitely jointly connected, which relaxes the theoretical results in the existing literature.

Place, publisher, year, edition, pages
IEEE Computer Society, 2015. 7639-7644 p.
Keyword [en]
coordination control, infinitely joint connectivity, pose synchronization, SE(3)
National Category
Discrete Mathematics
URN: urn:nbn:se:kth:diva-181573DOI: 10.1109/ChiCC.2015.7260852ScopusID: 2-s2.0-84946592976ISBN: 9789881563897OAI: diva2:902417
34th Chinese Control Conference, CCC 2015, 28 July 2015 through 30 July 2015

QC 20160211

Available from: 2016-02-11 Created: 2016-02-02 Last updated: 2016-02-11Bibliographically approved

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Song, Wenjun
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