An intrinsic approach to formation control of regular polyhedra for reduced attitudes

DOI10.1016/J.AUTOMATICA.2019.108619MaRDI QIDQ2288620zbMATH OpenOpenAlexWikidataFDO

Authors Silun Zhang, Fenghua He, Yiguang Hong, Xiaoming Hu

Publication date 20 January 2020

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1805.07823

zbMATH Keywords

distributed controlformation controlnonlinear systemsattitude control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20) Multi-agent systems (93A16)

Abstract: This paper addresses formation control of reduced attitudes in which a continuous control protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol contains only relative reduced attitude measurements and does not depend on any particular parametrization as is usually used in the literature. A key feature of the control proposed is that it is intrinsic in the sense that it does not need to incorporate any information of the desired formation. Instead, the achieved formation pattern is totally attributed to the geometric properties of the space and the designed inter-agent connection topology. Using a novel coordinates transformation, asymptotic stability of the desired formations is proven by studying stability of a constrained nonlinear system. In addition, a methodology to investigate stability of such constrained systems is also presented.

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Cited in

(4)

• Displacement-based formation control with predefined attitude over time-varying topologies
• Intrinsic reduced attitude formation with ring inter-agent graph
• An intrinsic approach to formation control of regular polyhedra for reduced attitudes
• Intrinsic tetrahedron formation of reduced attitude

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