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An intrinsic approach to formation control of regular polyhedra for reduced attitudes
Zhang, Silun1; He, Fenghua3; Hong, Yiguang4; Hu, Xiaoming2
2020
Source PublicationAUTOMATICA
ISSN0005-1098
Volume111Pages:8
AbstractThis 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.
KeywordAttitude control Distributed control Formation control Nonlinear systems
DOI10.1016/j.automatica.2019.108619
Indexed BySCI
Language英语
Funding ProjectSwedish Research Council[2013-05438]
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000504513100030
PublisherPERGAMON-ELSEVIER SCIENCE LTD
Citation statistics
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/50526
Collection中国科学院数学与系统科学研究院
Corresponding AuthorHu, Xiaoming
Affiliation1.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
Recommended Citation
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.
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