Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks

doi:10.1016/j.automatica.2020.109388

CSpace

	Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks
	Deng, Juan 1; Wang, Lin 2,3; Liu, Zhixin 4,5
	2021-03-01
发表期刊	AUTOMATICA
ISSN	0005-1098
卷号	125 页码:10
摘要	In this paper, the combination of the attitude synchronization and rigid formation problem of multiple moving rigid bodies are considered. The moving rigid bodies communicate with each other via a distance-dependent interaction network, yielding the dynamical neighbor relations and the coupling relationship between positions and attitudes of all rigid bodies. The finite-time control and potential function techniques are combined in the design of distributed control laws for the torques and forces of rigid bodies. We construct the admissible set on the initial states, in which the theoretical results on the attitude synchronization, rigidity maintenance and collision avoidance are established simultaneously without relying on the dynamical connectivity of the neighbor graphs. Furthermore, by transforming the stability of rigid formations into the stability of the parameterized systems, we show that the local asymptotic stability of rigid formations can be achieved. A simulation example is given to illustrate the theoretical results. (C) 2020 Elsevier Ltd. All rights reserved.
关键词	Rigid body Attitude synchronization Rigid formation Collision avoidance
DOI	10.1016/j.automatica.2020.109388
收录类别	SCI
语种	英语
资助项目	National Key R&D Program of China[2018YFA0703800] ; National Natural Science Foundation of China[11688101] ; National Natural Science Foundation of China[61873167]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000647691900009
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/58491
专题	中国科学院数学与系统科学研究院
通讯作者	Liu, Zhixin
作者单位	1.Natl Univ Def Technol, Coll Liberal Arts & Sci, Changsha 410073, Peoples R China 2.Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China 3.Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China 4.Chinese Acad Sci, Key Lab Syst & Control, Acad Math & Syst Sci, Beijing 100190, Peoples R China 5.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Deng, Juan,Wang, Lin,Liu, Zhixin. Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks[J]. AUTOMATICA,2021,125:10.
APA	Deng, Juan,Wang, Lin,&Liu, Zhixin.(2021).Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks.AUTOMATICA,125,10.
MLA	Deng, Juan,et al."Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks".AUTOMATICA 125(2021):10.