Intrinsic reduced attitude formation with ring inter-agent graph

doi:10.1016/j.automatica.2017.07.015

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	Intrinsic reduced attitude formation with ring inter-agent graph
	Song, Wenjun 1; Markdahl, Johan 1; Zhang, Silun 1,3; Hu, Xiaoming 1; Hong, Yiguang2
刊名	AUTOMATICA
	2017-11-01
卷号	85 页码:193-201
关键词	Attitude control Distributed control Asymptotic stability Nonlinear systems Linearization
ISSN号	0005-1098
DOI	10.1016/j.automatica.2017.07.015
英文摘要	This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that reversing the sign of a classic consensus protocol yields asymptotical convergence to formations whose shape depends on the parity of the group size. Specifically, in the case of even parity the reduced attitudes converge asymptotically to a pair of antipodal points and distribute equidistantly on a great circle in the case of odd parity. Moreover, when the inter-agent graph is an undirected ring, the desired formation is shown to be achieved from almost all initial states. (C) 2017 Elsevier Ltd. All rights reserved.
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号	WOS:000414818100022
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/26910]
专题	系统科学研究所
通讯作者	Song, Wenjun
作者单位	1.KTH Royal Inst Technol, Dept Math, Optimizat & Syst Theory, S-10044 Stockholm, Sweden 2.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China 3.Harbin Inst Technol, Control & Simulat Ctr, Harbin 150001, Heilongjiang, Peoples R China
推荐引用方式 GB/T 7714	Song, Wenjun,Markdahl, Johan,Zhang, Silun,et al. Intrinsic reduced attitude formation with ring inter-agent graph[J]. AUTOMATICA,2017,85:193-201.
APA	Song, Wenjun,Markdahl, Johan,Zhang, Silun,Hu, Xiaoming,&Hong, Yiguang.(2017).Intrinsic reduced attitude formation with ring inter-agent graph.AUTOMATICA,85,193-201.
MLA	Song, Wenjun,et al."Intrinsic reduced attitude formation with ring inter-agent graph".AUTOMATICA 85(2017):193-201.