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Distributed attitude synchronization control of multi-agent systems with time-varying topologies

Song, Wenjun ; Thunberg, Johan LU ; Hong, Yiguang and Hu, Xiaoming (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:
author
; ; and
publishing date
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}},
}