Intrinsic tetrahedron formation of reduced attitude

DOI10.1016/J.AUTOMATICA.2017.10.023zbMATH Open1378.93016arXiv1609.08493OpenAlexW2523770479MaRDI QIDQ680557FDOQ680557

Authors: Silun Zhang, Wenjun Song, Fenghua He, Yiguang Hong, Xiaoming Hu 

Publication date: 23 January 2018

Published in: Automatica (Search for Journal in Brave)

Abstract: In this paper, formation control for reduced attitude is studied, in which both stationary and rotating regular tetrahedron formation can be achieved and are asymptotically stable under a large family of gain functions in the control. Moreover, by further restriction on the control gain, almost global stability of the stationary formation is obtained. In addition, the control proposed is an intrinsic protocol that only uses relative information and does not need to contain any information of the desired formation beforehand. The constructed formation pattern is totally attributed to the geometric properties of the space and the designed inter-agent connection topology. Besides, a novel coordinates transformation is proposed to represent the relative reduced attitudes in S^2, which is shown to be an efficient approach to reduced attitude formation problems.

Full work available at URL: https://arxiv.org/abs/1609.08493

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zbMATH Keywords

distributed controlformation controlnonlinear systemsattitude control

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Decentralized systems (93A14) Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20)

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Cited In (3)

• Cluster Synchrony of High-Dimensional Kuramoto Models with Higher-Order Couplings
• An intrinsic approach to formation control of regular polyhedra for reduced attitudes
• Intrinsic tetrahedron formation of reduced attitude

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