Distributed control for intrinsic reduced attitude formation with ring inter-agent graph
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 5599-5604 p.Conference paper (Refereed)Text
This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using only relative attitude information. Under both undirected and directed ring inter-agent graph, it is shown that when reversing the sign of a classic consensus control, different formations depending on the parity of the group size are achieved asymptotically. Specifically, the reduced attitudes converge to a pair of antipodal points with even number of agents, and distribute uniformly on a great circle with odd number of agents. To show the effectiveness of the proposed control law, illustrative examples are provided.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2016. 5599-5604 p.
Attitude control, Closed loop systems, Geometry, Kinematics, Manifolds, Nickel, Topology
IdentifiersURN: urn:nbn:se:kth:diva-188277DOI: 10.1109/CDC.2015.7403097ScopusID: 2-s2.0-84961999661ISBN: 9781479978861OAI: oai:DiVA.org:kth-188277DiVA: diva2:937259
54th IEEE Conference on Decision and Control, CDC 2015, 15 December 2015 through 18 December 2015
QC 201606152016-06-152016-06-092016-06-15Bibliographically approved