TY - GEN
T1 - Rigid Body Attitude Cluster Consensus Control on Weighted Cooperative-Competitive Networks
AU - Butcher, Eric A.
AU - Maadani, Mohammad
N1 - Publisher Copyright:
© 2024 AACC.
PY - 2024
Y1 - 2024
N2 - In this paper, the cluster consensus control of rigid body attitude for a multi-agent system on networks represented by directed graphs with weighted cooperative and competitive interactions is studied. Using an absolute Laplacian feedback scheme, Lyapunov-based stability guarantees are obtained for the cases of strongly connected interactively balanced and interactively sub-balanced communication graphs. Both rotation matrices on SO(3)N and exponential coordinates are used, while the proposed controllers are at the kinematic level.
AB - In this paper, the cluster consensus control of rigid body attitude for a multi-agent system on networks represented by directed graphs with weighted cooperative and competitive interactions is studied. Using an absolute Laplacian feedback scheme, Lyapunov-based stability guarantees are obtained for the cases of strongly connected interactively balanced and interactively sub-balanced communication graphs. Both rotation matrices on SO(3)N and exponential coordinates are used, while the proposed controllers are at the kinematic level.
UR - http://www.scopus.com/inward/record.url?scp=85204457360&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85204457360&partnerID=8YFLogxK
U2 - 10.23919/ACC60939.2024.10644665
DO - 10.23919/ACC60939.2024.10644665
M3 - Conference contribution
AN - SCOPUS:85204457360
T3 - Proceedings of the American Control Conference
SP - 3049
EP - 3054
BT - 2024 American Control Conference, ACC 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 American Control Conference, ACC 2024
Y2 - 10 July 2024 through 12 July 2024
ER -