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Distributed attitude synchronization control of multi-agent systems with switching topologies

Thunberg, Johan LU ; Song, Wenjun ; Montijano, Eduardo ; Hong, Yiguang and Hu, Xiaoming (2014) In Automatica 50(3). p.832-840
Abstract

This paper addresses the attitude synchronization problem in multi-agent systems with directed and switching interconnection topologies. Two cases for the synchronization problem are discussed under different assumptions about the measurable information. In the first case the agents can measure their rotations relative to a global reference coordinate frame, whilst in the second case they can only measure the relative rotations between each other. Two intuitive distributed control laws based on the axis-angle representations of the rotations are proposed for the two cases, respectively. The invariance of convex balls in SO(3) is guaranteed. Moreover, attitude synchronization is ensured under the well-known mild switching assumptions,... (More)

This paper addresses the attitude synchronization problem in multi-agent systems with directed and switching interconnection topologies. Two cases for the synchronization problem are discussed under different assumptions about the measurable information. In the first case the agents can measure their rotations relative to a global reference coordinate frame, whilst in the second case they can only measure the relative rotations between each other. Two intuitive distributed control laws based on the axis-angle representations of the rotations are proposed for the two cases, respectively. The invariance of convex balls in SO(3) is guaranteed. Moreover, attitude synchronization is ensured under the well-known mild switching assumptions, the joint strong connection for the first case and joint quasi-strong connection for the second case. To show the effectiveness of the proposed control schemes, illustrative examples are provided.

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author
; ; ; and
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Attitude control, Distributed control, Network topologies, Nonlinear control, Nonlinear systems
in
Automatica
volume
50
issue
3
pages
9 pages
publisher
Elsevier
external identifiers
  • scopus:84895919998
ISSN
0005-1098
DOI
10.1016/j.automatica.2014.02.002
language
English
LU publication?
no
id
1fce7008-4b25-4942-9595-37c56c0a46a0
date added to LUP
2024-09-05 12:37:08
date last changed
2025-04-04 15:16:22
@article{1fce7008-4b25-4942-9595-37c56c0a46a0,
  abstract     = {{<p>This paper addresses the attitude synchronization problem in multi-agent systems with directed and switching interconnection topologies. Two cases for the synchronization problem are discussed under different assumptions about the measurable information. In the first case the agents can measure their rotations relative to a global reference coordinate frame, whilst in the second case they can only measure the relative rotations between each other. Two intuitive distributed control laws based on the axis-angle representations of the rotations are proposed for the two cases, respectively. The invariance of convex balls in SO(3) is guaranteed. Moreover, attitude synchronization is ensured under the well-known mild switching assumptions, the joint strong connection for the first case and joint quasi-strong connection for the second case. To show the effectiveness of the proposed control schemes, illustrative examples are provided.</p>}},
  author       = {{Thunberg, Johan and Song, Wenjun and Montijano, Eduardo and Hong, Yiguang and Hu, Xiaoming}},
  issn         = {{0005-1098}},
  keywords     = {{Attitude control; Distributed control; Network topologies; Nonlinear control; Nonlinear systems}},
  language     = {{eng}},
  number       = {{3}},
  pages        = {{832--840}},
  publisher    = {{Elsevier}},
  series       = {{Automatica}},
  title        = {{Distributed attitude synchronization control of multi-agent systems with switching topologies}},
  url          = {{http://dx.doi.org/10.1016/j.automatica.2014.02.002}},
  doi          = {{10.1016/j.automatica.2014.02.002}},
  volume       = {{50}},
  year         = {{2014}},
}