Dynamic controllers for column synchronization of rotation matrices: a QR-factorization approach

DOI10.1016/J.AUTOMATICA.2018.03.023MaRDI QIDQ1796977zbMATH OpenOpenAlexFDO

Authors Johan Thunberg, Johan Markdahl, Jorge Goncalves

Publication date 17 October 2018

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1708.03549

zbMATH Keywords

attitude synchronizationmulti-agent systemssensor networksnetwork topologiesconsensus algorithms

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Software, source code, etc. for problems pertaining to systems and control theory (93-04)

Abstract: In the multi-agent systems setting, this paper addresses continuous-time distributed synchronization of columns of rotation matrices. More precisely, k specific columns shall be synchronized and only the corresponding k columns of the relative rotations between the agents are assumed to be available for the control design. When one specific column is considered, the problem is equivalent to synchronization on the (d-1)-dimensional unit sphere and when all the columns are considered, the problem is equivalent to synchronization on SO(d). We design dynamic control laws for these synchronization problems. The control laws are based on the introduction of auxiliary variables in combination with a QR-factorization approach. The benefit of this QR-factorization approach is that we can decouple the dynamics for the k columns from the remaining d-k ones. Under the control scheme, the closed loop system achieves almost global convergence to synchronization for quasi-strong interaction graph topologies.

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Cites work

• Almost global consensus on the n-sphere
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Cited in

(5)

• Dynamic controllers for column synchronization of rotation matrices: a QR-factorization approach
• Consensus on SO(3) with piecewise-continuous sinusoids
• Synchronization of multiple rigid body systems: a survey
• High-dimensional Kuramoto models on Stiefel manifolds synchronize complex networks almost globally
• A lifting method for analyzing distributed synchronization on the unit sphere

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