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  • 1.
    Song, Wenjun
    et al.
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Mathematics (Div.).
    Markdahl, Johan
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Mathematics (Div.).
    Zhang, Silun
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Hu, Xiaoming
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Hong, Yiguang
    Intrinsic reduced attitude formation with ring inter-agent graph2017In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 85, p. 193-201Article in journal (Refereed)
    Abstract [en]

    This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that reversing the sign of a classic consensus protocol yields asymptotical convergence to formations whose shape depends on the parity of the group size. Specifically, in the case of even parity the reduced attitudes converge asymptotically to a pair of antipodal points and distribute equidistantly on a great circle in the case of odd parity. Moreover, when the inter-agent graph is an undirected ring, the desired formation is shown to be achieved from almost all initial states.

  • 2.
    Song, Wenjun
    et al.
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Tang, Y.
    Hong, Y.
    Hu, Xiaoming
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Relative attitude formation control of multi-agent systems2017In: International Journal of Robust and Nonlinear Control, ISSN 1049-8923, E-ISSN 1099-1239, Vol. 27, no 18, p. 4457-4477Article in journal (Refereed)
    Abstract [en]

    This paper investigates the relative attitude formation control problem for a group of rigid-body agents using relative attitude information on SO(3). On the basis of the gradient of a potential function, a family of distributed angular velocity control laws, which differ in the sense of a geodesic distance dependent function, is proposed. With directed and switching interaction topologies, the desired relative attitude formation is showed to be achieved asymptotically provided that the topology is jointly quasi-strongly connected. Moreover, several sufficient conditions for the desired formation to be achieved exponentially and almost globally are given. Additionally, numerical examples are provided to illustrate the effectiveness of the proposed distributed control laws.

  • 3.
    Zhang, Silun
    et al.
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. Harbin Institute of Technology, China.
    Song, Wenjun
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    He, Fenghua
    Control and Simulation Center, Harbin Institute of Technology, 150001 Harbin, China.
    Hong, Yiguang
    Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, 100190 Beijing, China.
    Hu, Xiaoming
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Intrinsic tetrahedron formation of reduced attitude2018In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 87, p. 375-382Article in journal (Refereed)
    Abstract [en]

    In this paper, formation control for reduced attitude is studied, in which a regular tetrahedron formation can be achieved and shown to be asymptotically stable under a large family of gain functions in the control. Moreover, by further restriction on the control gain, almost global stability of the desired formation is obtained. In addition, the control proposed is an intrinsic protocol that only uses relative information and does not need to contain any information of the desired formation beforehand. The constructed formation pattern is totally attributed to the geometric properties of the space and the designed inter-agent connection topology. Besides, a novel coordinates transformation is proposed to represent the relative reduced attitudes in S2, which is shown to be an efficient approach to reduced attitude formation problems.

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