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Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition
Deng, Juan1,2; Wang, Lin3,4; Liu, Zhixin1,2; Hu, Xiaoming5
2018-02-01
Source PublicationJOURNAL OF SYSTEMS SCIENCE & COMPLEXITY
ISSN1009-6124
Volume31Issue:1Pages:215-233
AbstractThis paper considers the pose synchronization problem of a group of moving rigid bodies under switching topologies where the dwell time of each topology may has no nonzero lower bound. The authors introduce an average dwell time condition to characterize the length of time intervals in which the graphs are connected. By designing distributed control laws of angular velocity and linear velocity, the closed-loop dynamics of multiple rigid bodies with switching topologies can be converted into a hybrid dynamical system. The authors employ the Lyapunov stability theorem, and show that the pose synchronization can be reached under the average dwell time condition. Moreover, the authors investigate the pose synchronization problem of the leader-following model under a similar average dwell time condition. Simulation examples are given to illustrate the results.
KeywordAverage dwell time hybrid dynamical systems pose synchronization rigid body SE(3)
DOI10.1007/s11424-018-7379-2
Language英语
Funding ProjectNational Natural Science Foundation of China[61473189] ; National Natural Science Foundation of China[61621003] ; National Key Basic Research Program of China (973 program)[2014CB845302]
WOS Research AreaMathematics
WOS SubjectMathematics, Interdisciplinary Applications
WOS IDWOS:000426304800015
PublisherSPRINGER HEIDELBERG
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Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/29683
Collection系统科学研究所
Affiliation1.Chinese Acad Sci, Acad Math & Syst Sci, LSC, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
3.Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
4.Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China
5.KTH Royal Inst Technol, Optimizat & Syst Theory, S-10044 Stockholm, Sweden
Recommended Citation
GB/T 7714
Deng, Juan,Wang, Lin,Liu, Zhixin,et al. Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition[J]. JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY,2018,31(1):215-233.
APA Deng, Juan,Wang, Lin,Liu, Zhixin,&Hu, Xiaoming.(2018).Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition.JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY,31(1),215-233.
MLA Deng, Juan,et al."Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition".JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY 31.1(2018):215-233.
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