TY - GEN
T1 - Attitude consensus control of a rigid body multi-vehicle system with heterogeneous communication delays
AU - Maadani, Mohammad
AU - Butcher, Eric A.
N1 - Publisher Copyright:
© 2021, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
PY - 2021
Y1 - 2021
N2 - In this paper, the attitude consensus control of a rigid body multi-vehicle system with communication time delays is studied using rotation matrices. The control objectives are attained under a fixed and undirected communication topology. Heterogeneous communication delays that are inherently present in transmission systems are considered in this paper, and sufficient conditions are derived to achieve almost global asymptotic stability of the consensus subspace. Consensus protocols are proposed for control of N heterogeneous rigid bodies in the framework of the tangent bundle TSO(3) associated with Lie group SO(3). Finally, simulation examples are given to demonstrate the proposed method.
AB - In this paper, the attitude consensus control of a rigid body multi-vehicle system with communication time delays is studied using rotation matrices. The control objectives are attained under a fixed and undirected communication topology. Heterogeneous communication delays that are inherently present in transmission systems are considered in this paper, and sufficient conditions are derived to achieve almost global asymptotic stability of the consensus subspace. Consensus protocols are proposed for control of N heterogeneous rigid bodies in the framework of the tangent bundle TSO(3) associated with Lie group SO(3). Finally, simulation examples are given to demonstrate the proposed method.
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M3 - Conference contribution
AN - SCOPUS:85100321672
SN - 9781624106095
T3 - AIAA Scitech 2021 Forum
SP - 1
EP - 18
BT - AIAA Scitech 2021 Forum
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021
Y2 - 11 January 2021 through 15 January 2021
ER -