Relative attitude formation control of multi-agent systems

被引：13

作者：

Song, W. ^{[1
]}

Tang, Y. ^{[2
]}

Hong, Y. ^{[3
]}

Hu, X. ^{[1
]}

机构：

[1] KTH Royal Inst Technol, Optimizat & Syst Theory, S-10044 Stockholm, Sweden

[2] Bejing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China

[3] Chinese Acad Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2017年 / 27卷 / 18期

基金：

北京市自然科学基金;

关键词：

attitude control; multi-agent systems; attitude formation; joint connectivity; asymptotic stability; SYNCHRONIZATION; COORDINATION;

D O I：

10.1002/rnc.3803

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. Copyright (c) 2017 John Wiley & Sons, Ltd.

引用

页码：4457 / 4477

页数：21

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