TY - GEN
T1 - Adaptive consensus control of rigid body attitude motion based on rotation matrices
AU - Koru, Ahmet Taha
AU - Johnson, Eric N.
AU - Maadani, Mohammad
AU - Butcher, Eric A.
AU - Sarsilmaz, Selahattin Burak
AU - Yucelen, Tansel
N1 - Publisher Copyright:
© 2020, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
PY - 2020
Y1 - 2020
N2 - In this paper, we focus on the consensus problem in terms of angular velocity and attitude for heterogeneous rigid bodies over a fixed undirected connected graph. The bodies’ inertia matrices are partially or entirely unknown. We formulate the rigid body kinematics in terms of the 3D rotation group SO(3) which is a Lie group. First, we present the decentralized control protocol for N reference rigid bodies whose inertia matrices are the identity matrix. Then, we present a model reference adaptive control algorithm to guarantee that each actual rigid body asymptotically tracks the corresponding reference model; therefore, they can reach consensus as their reference counterparts do. Finally, we demonstrate the efficacy of the proposed method through a numerical example and compare its performance with the nominal controller without adaptation.
AB - In this paper, we focus on the consensus problem in terms of angular velocity and attitude for heterogeneous rigid bodies over a fixed undirected connected graph. The bodies’ inertia matrices are partially or entirely unknown. We formulate the rigid body kinematics in terms of the 3D rotation group SO(3) which is a Lie group. First, we present the decentralized control protocol for N reference rigid bodies whose inertia matrices are the identity matrix. Then, we present a model reference adaptive control algorithm to guarantee that each actual rigid body asymptotically tracks the corresponding reference model; therefore, they can reach consensus as their reference counterparts do. Finally, we demonstrate the efficacy of the proposed method through a numerical example and compare its performance with the nominal controller without adaptation.
UR - http://www.scopus.com/inward/record.url?scp=85092392530&partnerID=8YFLogxK
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U2 - 10.2514/6.2020-1824
DO - 10.2514/6.2020-1824
M3 - Conference contribution
AN - SCOPUS:85092392530
SN - 9781624105951
T3 - AIAA Scitech 2020 Forum
SP - 1
EP - 7
BT - AIAA Scitech 2020 Forum
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Scitech Forum, 2020
Y2 - 6 January 2020 through 10 January 2020
ER -