Rigid body attitude coordination without inertial frame information

被引:135
|
作者
Bai, He [1 ]
Arcak, Murat [1 ,2 ]
Wen, John T. [1 ]
机构
[1] Rensselaer Polytech Inst, Dept Elect Comp & Syst Engn, Troy, NY 12180 USA
[2] Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA
关键词
Cooperative control; Rigid body; SO(3); Unit quaternion; Relative attitude; Passivity; Adaptive control;
D O I
10.1016/j.automatica.2008.05.018
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
We study a motion coordination problem where the objective is to achieve identical orientation and synchronous rotation for a group of rigid bodies. Unlike existing designs which assume that the inertial frame is available to each agent, we develop a passivity-based design which relies only on relative attitude information with respect to neighboring agents. The desired equilibria, where all the rigid bodies possess the same attitude and rotate at a desired angular velocity, are shown to be locally asymptotically stable and a manifold of undesired equilibria may exist. We then consider the situation where the reference angular velocity is available only to the leader, and propose a distributed adaptive controller with which the other agents reconstruct this reference angular velocity. (C) 2008 Elsevier Ltd. All rights reserved.
引用
收藏
页码:3170 / 3175
页数:6
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