Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks

doi:10.1016/j.automatica.2020.109388

	Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks
	Deng, Juan 4; Wang, Lin 2,3; Liu, Zhixin 1,5
刊名	AUTOMATICA
	2021-03-01
卷号	125 页码:10
关键词	Rigid body Attitude synchronization Rigid formation Collision avoidance
ISSN号	0005-1098
DOI	10.1016/j.automatica.2020.109388
英文摘要	In this paper, the combination of the attitude synchronization and rigid formation problem of multiple moving rigid bodies are considered. The moving rigid bodies communicate with each other via a distance-dependent interaction network, yielding the dynamical neighbor relations and the coupling relationship between positions and attitudes of all rigid bodies. The finite-time control and potential function techniques are combined in the design of distributed control laws for the torques and forces of rigid bodies. We construct the admissible set on the initial states, in which the theoretical results on the attitude synchronization, rigidity maintenance and collision avoidance are established simultaneously without relying on the dynamical connectivity of the neighbor graphs. Furthermore, by transforming the stability of rigid formations into the stability of the parameterized systems, we show that the local asymptotic stability of rigid formations can be achieved. A simulation example is given to illustrate the theoretical results. (C) 2020 Elsevier Ltd. All rights reserved.
资助项目	National Key R&D Program of China[2018YFA0703800] ; National Natural Science Foundation of China[11688101] ; National Natural Science Foundation of China[61873167]
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:000647691900009
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/58490]
专题	中国科学院数学与系统科学研究院
通讯作者	Liu, Zhixin
作者单位	1.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China 2.Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China 3.Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China 4.Natl Univ Def Technol, Coll Liberal Arts & Sci, Changsha 410073, Peoples R China 5.Chinese Acad Sci, Key Lab Syst & Control, Acad Math & Syst Sci, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Deng, Juan,Wang, Lin,Liu, Zhixin. Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks[J]. AUTOMATICA,2021,125:10.
APA	Deng, Juan,Wang, Lin,&Liu, Zhixin.(2021).Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks.AUTOMATICA,125,10.
MLA	Deng, Juan,et al."Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks".AUTOMATICA 125(2021):10.