Family of controllers for attitude synchronization on the sphere

DOI10.1016/J.AUTOMATICA.2016.09.033zbMATH Open1352.93011arXiv1503.06326OpenAlexW2963816333MaRDI QIDQ2374499FDOQ2374499

Authors: Pedro Pereira, Dimos V. Dimarogonas 

Publication date: 15 December 2016

Published in: Automatica (Search for Journal in Brave)

Abstract: In this paper we study a family of controllers that guarantees attitude synchronization for a network of elements in the unit sphere domain, i.e. $mathcal{S}^2$. We propose distributed continuous controllers for elements whose dynamics are controllable (i.e. control with torque as command), and which can be implemented by each individual agent without the need of a common global orientation frame among the network, i.e. it requires only local information that can be measured by each individual agent from its own orientation frame. The controllers are specified according to arbitrary distance functions in $mathcal{S}^2$, and we provide conditions on those distance functions that guarantee that i) a synchronized network of agents is locally asymptotically stable for an arbitrary network graph; ii) a synchronized network can be achieved for almost all initial conditions in a tree graph network. We also study the equilibria configurations that come with specific types of network graphs. The proposed strategies can be used in attitude synchronization of swarms of fully actuated rigid bodies, such as satellites.

Full work available at URL: https://arxiv.org/abs/1503.06326

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zbMATH Keywords

synchronizationattitude controlcoordinated control

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Asymptotic stability in control theory (93D20)

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Cited In (6)

• Synchronization of multiple rigid body systems: a survey
• Velocity-free coordinated attitude synchronisation and tracking control of multiple spacecraft
• Autonomous rigid body attitude synchronization
• Global finite-time distributed attitude synchronization and tracking control of multiple rigid bodies without velocity measurements
• Intrinsic reduced attitude formation with ring inter-agent graph
• Family of controllers for attitude synchronization on the sphere

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