Distributed attitude synchronization control of multi-agent systems with time-varying topologies
(2012) 10th World Congress on Intelligent Control and Automation, WCICA 2012 p.946-951- Abstract
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 wellknown mild assumption (that is, uniform joint strong connection). To demonstrate the effectiveness of the proposed control scheme, an illustrative example is provided.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/066a1fbe-7452-434d-9d49-7305a57b660f
- author
- Song, Wenjun ; Thunberg, Johan LU ; Hong, Yiguang and Hu, Xiaoming
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Attitude synchronization, distributed control, joint connectivity, multi-agent systems
- host publication
- Proceedings of the 10th World Congress on Intelligent Control and Automation
- article number
- 6358015
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 10th World Congress on Intelligent Control and Automation, WCICA 2012
- conference location
- Beijing, China
- conference dates
- 2012-07-06 - 2012-07-08
- external identifiers
-
- scopus:84872355747
- ISBN
- 9781467313988
- 978-1-4673-1397-1
- DOI
- 10.1109/WCICA.2012.6358015
- language
- English
- LU publication?
- no
- id
- 066a1fbe-7452-434d-9d49-7305a57b660f
- date added to LUP
- 2024-09-05 12:47:19
- date last changed
- 2024-10-03 16:32:59
@inproceedings{066a1fbe-7452-434d-9d49-7305a57b660f, abstract = {{<p>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 wellknown mild assumption (that is, uniform joint strong connection). To demonstrate the effectiveness of the proposed control scheme, an illustrative example is provided.</p>}}, author = {{Song, Wenjun and Thunberg, Johan and Hong, Yiguang and Hu, Xiaoming}}, booktitle = {{Proceedings of the 10th World Congress on Intelligent Control and Automation}}, isbn = {{9781467313988}}, keywords = {{Attitude synchronization; distributed control; joint connectivity; multi-agent systems}}, language = {{eng}}, pages = {{946--951}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Distributed attitude synchronization control of multi-agent systems with time-varying topologies}}, url = {{http://dx.doi.org/10.1109/WCICA.2012.6358015}}, doi = {{10.1109/WCICA.2012.6358015}}, year = {{2012}}, }