Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition

doi:10.1007/s11424-018-7379-2

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	Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition
	Deng, Juan 1,2; Wang, Lin 3,4; Liu, Zhixin1,2 ; Hu, Xiaoming 5
	2018-02-01
发表期刊	JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY
ISSN	1009-6124
卷号	31 期号:1 页码:215-233
摘要	This 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.
关键词	Average dwell time hybrid dynamical systems pose synchronization rigid body SE(3)
DOI	10.1007/s11424-018-7379-2
语种	英语
资助项目	National Natural Science Foundation of China[61473189] ; National Natural Science Foundation of China[61621003] ; National Key Basic Research Program of China (973 program)[2014CB845302]
WOS研究方向	Mathematics
WOS类目	Mathematics, Interdisciplinary Applications
WOS记录号	WOS:000426304800015
出版者	SPRINGER HEIDELBERG
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/29683
专题	系统科学研究所
通讯作者	Liu, Zhixin
作者单位	1.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
推荐引用方式 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.