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Intrinsic reduced attitude formation with ring inter-agent graph
Song, Wenjun1; Markdahl, Johan1; Zhang, Silun1,3; Hu, Xiaoming1; Hong, Yiguang2
2017-11-01
Source PublicationAUTOMATICA
ISSN0005-1098
Volume85Pages:193-201
AbstractThis paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that reversing the sign of a classic consensus protocol yields asymptotical convergence to formations whose shape depends on the parity of the group size. Specifically, in the case of even parity the reduced attitudes converge asymptotically to a pair of antipodal points and distribute equidistantly on a great circle in the case of odd parity. Moreover, when the inter-agent graph is an undirected ring, the desired formation is shown to be achieved from almost all initial states. (C) 2017 Elsevier Ltd. All rights reserved.
KeywordAttitude control Distributed control Asymptotic stability Nonlinear systems Linearization
DOI10.1016/j.automatica.2017.07.015
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000414818100022
PublisherPERGAMON-ELSEVIER SCIENCE LTD
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Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/26911
Collection系统科学研究所
Corresponding AuthorSong, Wenjun
Affiliation1.KTH Royal Inst Technol, Dept Math, Optimizat & Syst Theory, S-10044 Stockholm, Sweden
2.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
3.Harbin Inst Technol, Control & Simulat Ctr, Harbin 150001, Heilongjiang, Peoples R China
Recommended Citation
GB/T 7714
Song, Wenjun,Markdahl, Johan,Zhang, Silun,et al. Intrinsic reduced attitude formation with ring inter-agent graph[J]. AUTOMATICA,2017,85:193-201.
APA Song, Wenjun,Markdahl, Johan,Zhang, Silun,Hu, Xiaoming,&Hong, Yiguang.(2017).Intrinsic reduced attitude formation with ring inter-agent graph.AUTOMATICA,85,193-201.
MLA Song, Wenjun,et al."Intrinsic reduced attitude formation with ring inter-agent graph".AUTOMATICA 85(2017):193-201.
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