Relative attitude formation control of multi-agent systems

doi:10.1002/rnc.3803

CSpace

	Relative attitude formation control of multi-agent systems
	Song, W.1; Tang, Y.2; Hong, Y.3; Hu, X.1
	2017-12-01
发表期刊	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN	1049-8923
卷号	27 期号:18 页码:4457-4477
摘要	This 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.
关键词	attitude control multi-agent systems attitude formation joint connectivity asymptotic stability
DOI	10.1002/rnc.3803
语种	英语
资助项目	NSFC[61333001] ; NSFC[61503033] ; Beijing Natural Science Foundation[4152057] ; Program 973[2014CB845301/2]
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS记录号	WOS:000415902300017
出版者	WILEY
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/27094
专题	中国科学院数学与系统科学研究院
通讯作者	Song, W.
作者单位	1.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
推荐引用方式 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.