TY - GEN
T1 - Finite-time Attitude Consensus Control of a Multi-Agent Rigid Body System
AU - Maadani, Mohammad
AU - Butcher, Eric A.
AU - Sanyal, Amit K.
N1 - Funding Information:
ACKNOWLEDGMENT This research was supported by the Dynamics, Control, and Systems Diagnostics Program of the National Science Foundation under Grant CMMI-1561836.
Publisher Copyright:
© 2020 AACC.
PY - 2020/7
Y1 - 2020/7
N2 - In this paper, finite-time attitude consensus control laws for multi-agent rigid body systems are presented using rotation matrices. The control objective is to stabilize the relative configurations in a finite convergence time. First, the control design is done on the kinematic level where the angular velocities are the control signals. Next, the design is conducted on the dynamic level in the framework of the tangent bundle TSO(3) associated with SO(3), where the torques implement the feedback control of relative attitudes and angular velocities. The Lyapunov-based almost global finite-time stability of the consensus subspace is demonstrated for both cases. Finally, numerical simulations are provided to verify the effectiveness of the proposed consensus control algorithms.
AB - In this paper, finite-time attitude consensus control laws for multi-agent rigid body systems are presented using rotation matrices. The control objective is to stabilize the relative configurations in a finite convergence time. First, the control design is done on the kinematic level where the angular velocities are the control signals. Next, the design is conducted on the dynamic level in the framework of the tangent bundle TSO(3) associated with SO(3), where the torques implement the feedback control of relative attitudes and angular velocities. The Lyapunov-based almost global finite-time stability of the consensus subspace is demonstrated for both cases. Finally, numerical simulations are provided to verify the effectiveness of the proposed consensus control algorithms.
UR - http://www.scopus.com/inward/record.url?scp=85089584785&partnerID=8YFLogxK
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U2 - 10.23919/ACC45564.2020.9147639
DO - 10.23919/ACC45564.2020.9147639
M3 - Conference contribution
AN - SCOPUS:85089584785
T3 - Proceedings of the American Control Conference
SP - 877
EP - 882
BT - 2020 American Control Conference, ACC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 American Control Conference, ACC 2020
Y2 - 1 July 2020 through 3 July 2020
ER -