Finite-Time Attitude Synchronization With Distributed Discontinuous Protocols

DOI10.1109/TAC.2018.2797179MaRDI QIDQ4562309zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Jieqiang Wei, Silun Zhang, Antonio Adaldo, Johan Thunberg, Karl Henrik Johansson, Xiaoming Hu

Publication date 19 December 2018

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1705.02821

Mathematics Subject Classification ID

Stability for nonlinear problems in mechanics (70K20) Decentralized systems (93A14) Nonlinear systems in control theory (93C10) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Abstract: The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

Cited in

(5)

• Convergence and synchronization in networks of piecewise-smooth systems via distributed discontinuous coupling
• Finite-time bipartite synchronization of coupled neural networks with uncertain parameters
• Synchronization of multiple rigid body systems: a survey
• Optimal attitude consensus for multi rigid bodies network considered on the Lie group SO(3) with connectivity preserving property
• An exponential attitude tracking controller with gyro bias estimation

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