Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols
(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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/d64b2ada-4d40-4b48-b8ef-8bab3465d093
- author
- Wei, Jieqiang ; Zhang, Silun ; Adaldo, Antonio ; Thunberg, Johan LU ; Hu, Xiaoming and Johansson, Karl H. LU
- publishing date
- 2018-10
- 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}}, }