Intrinsic tetrahedron formation of reduced attitude

DOI10.1016/J.AUTOMATICA.2017.10.023MaRDI QIDQ680557zbMATHOpenAlexFDO

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

Publication date 23 January 2018

Published in Automatica (Search for Journal in Brave)

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

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)

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.

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Cited in

(3)

• An intrinsic approach to formation control of regular polyhedra for reduced attitudes
• Intrinsic tetrahedron formation of reduced attitude
• Cluster synchrony of high-dimensional Kuramoto models with higher-order couplings

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