An intrinsic approach to formation control of regular polyhedra for reduced attitudes

doi:10.1016/j.automatica.2019.108619

CSpace

	An intrinsic approach to formation control of regular polyhedra for reduced attitudes
	Zhang, Silun 1; He, Fenghua 3; Hong, Yiguang 4; Hu, Xiaoming 2
	2020
发表期刊	AUTOMATICA
ISSN	0005-1098
卷号	111 页码:8
摘要	This paper addresses formation control of reduced attitudes in which a continuous control protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol contains only relative reduced attitude measurements and does not depend on any particular parametrization as is usually used in the literature. A key feature of the control proposed is that it is intrinsic in the sense that it does not need to incorporate any information of the desired formation. Instead, the achieved formation pattern is totally attributed to the geometric properties of the space and the designed inter-agent connection topology. Using a novel coordinates transformation, asymptotic stability of the desired formations is proven by studying stability of a constrained nonlinear system. In addition, a methodology to investigate stability of such constrained systems is also presented. (C) 2019 Elsevier Ltd. All rights reserved.
关键词	Attitude control Distributed control Formation control Nonlinear systems
DOI	10.1016/j.automatica.2019.108619
收录类别	SCI
语种	英语
资助项目	Swedish Research Council[2013-05438]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000504513100030
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/50526
专题	中国科学院数学与系统科学研究院
通讯作者	Hu, Xiaoming
作者单位	1.MIT, LIDS, 77 Massachusetts Ave, Cambridge, MA 02139 USA 2.KTH Royal Inst Technol, Dept Math, Optimizat & Syst Theory, S-10044 Stockholm, Sweden 3.Harbin Inst Technol, Control & Simulat Ctr, Harbin 150001, Heilongjiang, Peoples R China 4.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Silun,He, Fenghua,Hong, Yiguang,et al. An intrinsic approach to formation control of regular polyhedra for reduced attitudes[J]. AUTOMATICA,2020,111:8.
APA	Zhang, Silun,He, Fenghua,Hong, Yiguang,&Hu, Xiaoming.(2020).An intrinsic approach to formation control of regular polyhedra for reduced attitudes.AUTOMATICA,111,8.
MLA	Zhang, Silun,et al."An intrinsic approach to formation control of regular polyhedra for reduced attitudes".AUTOMATICA 111(2020):8.