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Intrinsic tetrahedron formation of reduced attitude
Zhang, Silun1,2; Song, Wenjun1; He, Fenghua2; Hong, Yiguang3; Hu, Xiaoming1
Source PublicationAUTOMATICA
AbstractIn this paper, formation control for reduced attitude is studied, in which a regular tetrahedron formation can be achieved and shown to be asymptotically stable under a large family of gain functions in the control. Moreover, by further restriction on the control gain, almost global stability of the desired formation is obtained. In addition, the control proposed is an intrinsic protocol that only uses relative information and does not need to contain any information of the desired formation beforehand. The constructed formation pattern is totally attributed to the geometric properties of the space and the designed inter agent connection topology. Besides, a novel coordinates transformation is proposed to represent the relative reduced attitudes in 82, which is shown to be an efficient approach to reduced attitude formation problems. (C) 2017 Elsevier Ltd. All rights reserved.
KeywordAttitude control Distributed control Formation control Nonlinear systems
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000423002400042
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Document Type期刊论文
Corresponding AuthorHu, Xiaoming
Affiliation1.KTH Royal Inst Technol, Dept Math, Optimizat & Syst Theory, S-10044 Stockholm, Sweden
2.Harbin Inst Technol, Control & Simulat Ctr, Harbin 150001, Heilongjiang, Peoples R China
3.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Zhang, Silun,Song, Wenjun,He, Fenghua,et al. Intrinsic tetrahedron formation of reduced attitude[J]. AUTOMATICA,2018,87:375-382.
APA Zhang, Silun,Song, Wenjun,He, Fenghua,Hong, Yiguang,&Hu, Xiaoming.(2018).Intrinsic tetrahedron formation of reduced attitude.AUTOMATICA,87,375-382.
MLA Zhang, Silun,et al."Intrinsic tetrahedron formation of reduced attitude".AUTOMATICA 87(2018):375-382.
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