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Distributed relativ...
Distributed relative attitude formation control of multiple rigid-body agents with switching topologies
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Song, W. (author)
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Hong, Y. (author)
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- Hu, Xiaoming (author)
- KTH,Optimeringslära och systemteori
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(creator_code:org_t)
- 2013
- 2013
- English.
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In: Chinese Control Conf., CCC. - 9789881563835 ; , s. 7125-7130
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Abstract
Subject headings
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- This paper formulates and investigates the relative attitude formation problem of a group of rigid-body agents with directed and switching sensing topologies. Each agent can only measure the attitudes of its neighbors from the body-fixed frame of the agent. Based on the axis-angle representation of the error attitude, we present a distributed protocol and then show how to achieve the desired relative attitude formation, provided that the inter-agent topology graph is jointly connected and each relative attitude between agents initially is contained within a geodesic ball of radius less than 2p/3 centered at its desired relative attitude. A numerical example is provided to show the effectiveness of the proposed angular velocity control scheme.
Subject headings
- NATURVETENSKAP -- Matematik (hsv//swe)
- NATURAL SCIENCES -- Mathematics (hsv//eng)
Keyword
- Attitude formation
- Axis-angle representation
- Joint connectivity
- Multi-agent systems
Publication and Content Type
- ref (subject category)
- kon (subject category)
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