Relative attitude formation control of multi-agent systems

doi:10.1002/rnc.3803

	Relative attitude formation control of multi-agent systems
	Song, W.1; Tang, Y.2; Hong, Y.3; Hu, X.1
刊名	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
	2017-12-01
卷号	27 期号:18 页码:4457-4477
关键词	attitude control multi-agent systems attitude formation joint connectivity asymptotic stability
ISSN号	1049-8923
DOI	10.1002/rnc.3803
英文摘要	This paper investigates the relative attitude formation control problem for a group of rigid-body agents using relative attitude information on SO(3). On the basis of the gradient of a potential function, a family of distributed angular velocity control laws, which differ in the sense of a geodesic distance dependent function, is proposed. With directed and switching interaction topologies, the desired relative attitude formation is showed to be achieved asymptotically provided that the topology is jointly quasi-strongly connected. Moreover, several sufficient conditions for the desired formation to be achieved exponentially and almost globally are given. Additionally, numerical examples are provided to illustrate the effectiveness of the proposed distributed control laws. Copyright (c) 2017 John Wiley & Sons, Ltd.
资助项目	NSFC[61333001] ; NSFC[61503033] ; Beijing Natural Science Foundation[4152057] ; Program 973[2014CB845301/2]
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
语种	英语
出版者	WILEY
WOS记录号	WOS:000415902300017
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/27093]
专题	中国科学院数学与系统科学研究院
通讯作者	Song, W.
作者单位	1.KTH Royal Inst Technol, Optimizat & Syst Theory, S-10044 Stockholm, Sweden 2.Bejing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China 3.Chinese Acad Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Song, W.,Tang, Y.,Hong, Y.,et al. Relative attitude formation control of multi-agent systems[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2017,27(18):4457-4477.
APA	Song, W.,Tang, Y.,Hong, Y.,&Hu, X..(2017).Relative attitude formation control of multi-agent systems.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,27(18),4457-4477.
MLA	Song, W.,et al."Relative attitude formation control of multi-agent systems".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 27.18(2017):4457-4477.