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Distributed control for intrinsic reduced attitude formation with ring inter-agent graph
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 5599-5604 p.Conference paper (Refereed)Text
Abstract [en]

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.
Keyword [en]
Attitude control, Closed loop systems, Geometry, Kinematics, Manifolds, Nickel, Topology
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-188277DOI: 10.1109/CDC.2015.7403097ScopusID: 2-s2.0-84961999661ISBN: 9781479978861OAI: oai:DiVA.org:kth-188277DiVA: diva2:937259
Conference
54th IEEE Conference on Decision and Control, CDC 2015, 15 December 2015 through 18 December 2015
Note

QC 20160615

Available from: 2016-06-15 Created: 2016-06-09 Last updated: 2016-06-15Bibliographically approved

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Publisher's full textScopushttp://cdc2015.ieeecss.org/

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ReferencesLink to record
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