TY - GEN
T1 - Fractional PID Attitude Control of Multi-Agent Rigid Body Systems Using Rotation Matrices
AU - Maadani, Mohammad
AU - Butcher, Eric A.
N1 - Publisher Copyright:
© 2025 AACC.
PY - 2025
Y1 - 2025
N2 - A fractional proportional-integral-derivative (PID) attitude controller for multi-agent rigid-body systems is proposed in order to achieve attitude synchronization or balancing. The controller is designed on the tangent bundle of the special orthogonal group (SO(3)) and employs states comprising the rotation matrices and angular velocities of the bodies along with proportional, fractional derivative, and fractional integral feedback of these states. The performance of the closed-loop responses are evaluated numerically for both cases of synchronization and balancing.
AB - A fractional proportional-integral-derivative (PID) attitude controller for multi-agent rigid-body systems is proposed in order to achieve attitude synchronization or balancing. The controller is designed on the tangent bundle of the special orthogonal group (SO(3)) and employs states comprising the rotation matrices and angular velocities of the bodies along with proportional, fractional derivative, and fractional integral feedback of these states. The performance of the closed-loop responses are evaluated numerically for both cases of synchronization and balancing.
UR - https://www.scopus.com/pages/publications/105015735770
UR - https://www.scopus.com/pages/publications/105015735770#tab=citedBy
U2 - 10.23919/ACC63710.2025.11107501
DO - 10.23919/ACC63710.2025.11107501
M3 - Conference contribution
AN - SCOPUS:105015735770
T3 - Proceedings of the American Control Conference
SP - 4267
EP - 4272
BT - 2025 American Control Conference, ACC 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 American Control Conference, ACC 2025
Y2 - 8 July 2025 through 10 July 2025
ER -