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

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4 Author(s)
Wenjun Song ; Key Lab. of Syst. & Control, Acad. of Math. & Syst. Sci., Beijing, China ; Thunberg, J. ; Yiguang Hong ; Xiaoming Hu

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 well-known mild assumption (that is, uniform joint strong connection). To demonstrate the effectiveness of the proposed control scheme, an illustrative example is provided.

Published in:

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Date of Conference:

6-8 July 2012