Distributed Attitude Synchronization Control of Multi-Agent Systems with Time-Varying Topologies

被引：0

作者：

Song, Wenjun ^{[1
]}

Thunberg, Johan ^{[2
]}

Hong, Yiguang ^{[1
]}

Hu, Xiaoming ^{[2
]}

机构：

[1] Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China

[2] Royal Inst Technol, Dept Math, S-10044 Stockholm, Sweden

来源：

PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012) | 2012年

关键词：

Attitude synchronization; distributed control; multi-agent systems; joint connectivity; INVARIANCE-PRINCIPLE; CONSENSUS;

D O I：

暂无

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 addresses the attitude synchronization problem of multiple rigid body agents in SO(3) with directed and switching interconnection topologies. Using the axis-angle representation of the orientation, a distributed controller based on differences between the orientations of agents in a global frame is proposed. In the case of the balanced interconnection graph, the attitude synchronization is achieved with the well-known mild assumption (that is, uniform joint strong connection). To demonstrate the effectiveness of the proposed control scheme, an illustrative example is provided.

引用

页码：946 / 951

页数：6

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