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.
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页码：946 / 951
页数：6
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