Distributed attitude synchronization control of multi-agent systems with time-varying topologies

• This paper addresses the attitude synchronization problem of multiple rigid body agents in SO(3) with directed and switching interconnection topologies. Using the axis-angle representation of the orientation, a distributed controller based on differences between the orientations of agents in a global frame is proposed. In the case of the balanced interconnection graph, the attitude synchronization is achieved with the wellknown mild assumption (that is, uniform joint strong connection). To demonstrate the effectiveness of the proposed control scheme, an illustrative example is provided.

Nyckelord

Attitude synchronization

distributed control

joint connectivity

multi-agent systems

Publikations- och innehållstyp

ref (ämneskategori)

kon (ämneskategori)