Attitude Coordinated Control for Multiple rigid bodies

被引：0
|
作者：
Gao, Dai [1 ]
Lyu, Jianting [2 ]
Yang, Hongping [2 ]
Yang, Liyuan [2 ]
机构：
[1] Harbin Inst Technol, Sch Mechatron Engn, Harbin 150001, Peoples R China
[2] Heilongjiang Univ, Sch Math Sci, Harbin 150001, Peoples R China
来源：
PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年
关键词：
Multiple rigid bodies; Attitude Synchronization; Communication delays; Distributed control; SYNCHRONIZATION CONTROL; SPACECRAFT;
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：
In this paper, attitude coordination control problem for multiple rigid bodies under a directed communication topology is studied. A distributed control algorithm of multiple rigid bodies in the presence of time-varying communication delays is designed, and with Lyapunov theory and algebraic graph theory, rigorous proof of global asymptotical stability of closed-loop system is given. Then, considering external disturbance, the uncertainty of inertia moment and time-varying communication delays exist simultaneously, an adaptive sliding mode control algorithm for multiple rigid bodies is designed to guarantee the attitude synchronization. Finally, numerical simulations are provided to illustrate the feasibility and effectiveness of the designed distributed control algorithms.
引用
收藏
页码：1496 / 1499
页数：4
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