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Relative attitude formation control of multi-agent systems
Song, W.1; Tang, Y.2; Hong, Y.3; Hu, X.1
2017-12-01
Source PublicationINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN1049-8923
Volume27Issue:18Pages:4457-4477
AbstractThis paper investigates the relative attitude formation control problem for a group of rigid-body agents using relative attitude information on SO(3). On the basis of the gradient of a potential function, a family of distributed angular velocity control laws, which differ in the sense of a geodesic distance dependent function, is proposed. With directed and switching interaction topologies, the desired relative attitude formation is showed to be achieved asymptotically provided that the topology is jointly quasi-strongly connected. Moreover, several sufficient conditions for the desired formation to be achieved exponentially and almost globally are given. Additionally, numerical examples are provided to illustrate the effectiveness of the proposed distributed control laws. Copyright (c) 2017 John Wiley & Sons, Ltd.
Keywordattitude control multi-agent systems attitude formation joint connectivity asymptotic stability
DOI10.1002/rnc.3803
Language英语
Funding ProjectNSFC[61333001] ; NSFC[61503033] ; Beijing Natural Science Foundation[4152057] ; Program 973[2014CB845301/2]
WOS Research AreaAutomation & Control Systems ; Engineering ; Mathematics
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS IDWOS:000415902300017
PublisherWILEY
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/27094
Collection中国科学院数学与系统科学研究院
Affiliation1.KTH Royal Inst Technol, Optimizat & Syst Theory, S-10044 Stockholm, Sweden
2.Bejing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China
3.Chinese Acad Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Song, W.,Tang, Y.,Hong, Y.,et al. Relative attitude formation control of multi-agent systems[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2017,27(18):4457-4477.
APA Song, W.,Tang, Y.,Hong, Y.,&Hu, X..(2017).Relative attitude formation control of multi-agent systems.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,27(18),4457-4477.
MLA Song, W.,et al."Relative attitude formation control of multi-agent systems".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 27.18(2017):4457-4477.
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