TY - GEN
T1 - Distributed Control of Rigid Body Reduced Attitude
T2 - 6th Indian Control Conference, ICC 2019
AU - Maadani, Mohammad
AU - Butcher, Eric A.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - This paper proposes distributed control algorithms for asymptotically stable synchronization and balancing of a multi-agent rigid body reduced attitude system using Lyapunov analysis. In the synchronization of the reduced attitudes and velocities of the rigid bodies, the feedback control design is conducted on the dynamic level in which inertias are not negligible. However, in the balancing problem, the feedback control scheme is designed on the kinematic level while the control objective is the maximization of the minimum relative angular distance between each pair of rigid body reduced attitudes. In both cases, the rigid bodies share their states according to a static communication topology. Asymptotic stability to the desired formation in the nonlinear state space is demonstrated both analytically and through numerical simulations.
AB - This paper proposes distributed control algorithms for asymptotically stable synchronization and balancing of a multi-agent rigid body reduced attitude system using Lyapunov analysis. In the synchronization of the reduced attitudes and velocities of the rigid bodies, the feedback control design is conducted on the dynamic level in which inertias are not negligible. However, in the balancing problem, the feedback control scheme is designed on the kinematic level while the control objective is the maximization of the minimum relative angular distance between each pair of rigid body reduced attitudes. In both cases, the rigid bodies share their states according to a static communication topology. Asymptotic stability to the desired formation in the nonlinear state space is demonstrated both analytically and through numerical simulations.
UR - http://www.scopus.com/inward/record.url?scp=85087747085&partnerID=8YFLogxK
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U2 - 10.1109/ICC47138.2019.9123229
DO - 10.1109/ICC47138.2019.9123229
M3 - Conference contribution
AN - SCOPUS:85087747085
T3 - 2019 6th Indian Control Conference, ICC 2019 - Proceedings
SP - 92
EP - 97
BT - 2019 6th Indian Control Conference, ICC 2019 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 18 December 2019 through 20 December 2019
ER -