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Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols

Wei, Jieqiang ; Zhang, Silun ; Adaldo, Antonio ; Thunberg, Johan LU ; Hu, Xiaoming and Johansson, Karl H. LU (2018) In IEEE Transactions on Automatic Control 63(10). p.3608-3615
Abstract

The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and nonsmooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

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author
; ; ; ; and
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Agents and autonomous systems, finite-time attitude synchronization, network analysis and control, nonlinear systems
in
IEEE Transactions on Automatic Control
volume
63
issue
10
article number
8267247
pages
8 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • scopus:85040999383
ISSN
0018-9286
DOI
10.1109/TAC.2018.2797179
language
English
LU publication?
no
additional info
Publisher Copyright: © 1963-2012 IEEE.
id
d64b2ada-4d40-4b48-b8ef-8bab3465d093
date added to LUP
2024-09-05 12:30:39
date last changed
2024-09-17 12:59:45
@article{d64b2ada-4d40-4b48-b8ef-8bab3465d093,
  abstract     = {{<p>The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and nonsmooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.</p>}},
  author       = {{Wei, Jieqiang and Zhang, Silun and Adaldo, Antonio and Thunberg, Johan and Hu, Xiaoming and Johansson, Karl H.}},
  issn         = {{0018-9286}},
  keywords     = {{Agents and autonomous systems; finite-time attitude synchronization; network analysis and control; nonlinear systems}},
  language     = {{eng}},
  number       = {{10}},
  pages        = {{3608--3615}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{IEEE Transactions on Automatic Control}},
  title        = {{Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols}},
  url          = {{http://dx.doi.org/10.1109/TAC.2018.2797179}},
  doi          = {{10.1109/TAC.2018.2797179}},
  volume       = {{63}},
  year         = {{2018}},
}