distributedattitudesynchronizationusingbacksteppingandslidingmodecontrol

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	distributedattitudesynchronizationusingbacksteppingandslidingmodecontrol
	Thunberg Johan 1; Song Wenjun 2; Hong Yiguang2 ; Hu Xiaoming 1
	2014
发表期刊	controltheoryandtechnology
ISSN	2095-6983
卷号	12 期号:1 页码:48
摘要	We consider the problem of attitude synchronization for systems of rigid body agents with directed topologies. Two different scenarios for the rotation matrices of the agents are considered. In the first scenario, the rotations are contained in a convex subset of SO(3), which is a ball of radius less than π/2, whereas in the second scenario the agents are contained in a subset of SO(3), which is a ball of radius less than π. Using a control law based on backstepping and sliding mode control, we provide distributed, semi-global, torque control laws for the agents so that the rotations asymptotically synchronize. The control laws for the agents in the first scenario only depend on the relative rotations between neighboring agents, whereas the control laws in the second scenario depend on rotations defined in a global coordinate frame. Illustrative examples are provided where the synchronization is shown for both scenarios.
语种	英语
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/36519
专题	系统科学研究所
作者单位	1.皇家工学院 2.中国科学院数学与系统科学研究院
推荐引用方式 GB/T 7714	Thunberg Johan,Song Wenjun,Hong Yiguang,et al. distributedattitudesynchronizationusingbacksteppingandslidingmodecontrol[J]. controltheoryandtechnology,2014,12(1):48.
APA	Thunberg Johan,Song Wenjun,Hong Yiguang,&Hu Xiaoming.(2014).distributedattitudesynchronizationusingbacksteppingandslidingmodecontrol.controltheoryandtechnology,12(1),48.
MLA	Thunberg Johan,et al."distributedattitudesynchronizationusingbacksteppingandslidingmodecontrol".controltheoryandtechnology 12.1(2014):48.