Distributed attitude synchronization control
(2011) 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 In Proceedings of the IEEE Conference on Decision and Control p.1962-1967- Abstract
In this paper we consider the problem of constructing feedback control laws for a system of n agents that shall synchronize their attitudes in SO(3). We propose distributed controllers for two synchronization problems, in which the objective is the same, to synchronize the orientations, but what the agents can perceive or communicate differs. In the first problem the agents can measure their orientation to a common reference object, and either communicate with the neighbors or estimate the relative orientation to their neighbors. In the second problem the agents can, without communication, only measure the relative orientation to the neighbors. For the first problem we present a controller which will lead to synchronization, provided... (More)
In this paper we consider the problem of constructing feedback control laws for a system of n agents that shall synchronize their attitudes in SO(3). We propose distributed controllers for two synchronization problems, in which the objective is the same, to synchronize the orientations, but what the agents can perceive or communicate differs. In the first problem the agents can measure their orientation to a common reference object, and either communicate with the neighbors or estimate the relative orientation to their neighbors. In the second problem the agents can, without communication, only measure the relative orientation to the neighbors. For the first problem we present a controller which will lead to synchronization, provided the neighborhood graph is connected. For the second problem we present a controller that will lead to synchronization provided the neighborhood graph is connected and the agents initially are contained within a geodesic ball of radius πover2 , which is the maximal convex set in SO(3).
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- author
- Thunberg, Johan LU ; Montijano, Eduardo and Hu, Xiaoming
- publishing date
- 2011
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
- series title
- Proceedings of the IEEE Conference on Decision and Control
- article number
- 6161295
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
- conference location
- Orlando, FL, United States
- conference dates
- 2011-12-12 - 2011-12-15
- external identifiers
-
- scopus:84860679392
- ISSN
- 0743-1546
- 2576-2370
- ISBN
- 978-1-61284-801-3
- 978-1-61284-800-6
- DOI
- 10.1109/CDC.2011.6161295
- language
- English
- LU publication?
- no
- id
- a417f808-676d-4a67-8f23-50a464325ccb
- date added to LUP
- 2024-09-05 12:49:00
- date last changed
- 2024-09-23 16:08:18
@inproceedings{a417f808-676d-4a67-8f23-50a464325ccb,
abstract = {{<p>In this paper we consider the problem of constructing feedback control laws for a system of n agents that shall synchronize their attitudes in SO(3). We propose distributed controllers for two synchronization problems, in which the objective is the same, to synchronize the orientations, but what the agents can perceive or communicate differs. In the first problem the agents can measure their orientation to a common reference object, and either communicate with the neighbors or estimate the relative orientation to their neighbors. In the second problem the agents can, without communication, only measure the relative orientation to the neighbors. For the first problem we present a controller which will lead to synchronization, provided the neighborhood graph is connected. For the second problem we present a controller that will lead to synchronization provided the neighborhood graph is connected and the agents initially are contained within a geodesic ball of radius πover2 , which is the maximal convex set in SO(3).</p>}},
author = {{Thunberg, Johan and Montijano, Eduardo and Hu, Xiaoming}},
booktitle = {{2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011}},
isbn = {{978-1-61284-801-3}},
issn = {{0743-1546}},
language = {{eng}},
pages = {{1962--1967}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
series = {{Proceedings of the IEEE Conference on Decision and Control}},
title = {{Distributed attitude synchronization control}},
url = {{http://dx.doi.org/10.1109/CDC.2011.6161295}},
doi = {{10.1109/CDC.2011.6161295}},
year = {{2011}},
}