Premium
Relative attitude formation control of multi‐agent systems
Author(s) -
Song W.,
Tang Y.,
Hong Y.,
Hu X.
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3803
Subject(s) - function (biology) , geodesic , control theory (sociology) , relative velocity , angular velocity , control (management) , network topology , topology (electrical circuits) , attitude control , basis (linear algebra) , mathematics , computer science , engineering , mathematical analysis , control engineering , physics , combinatorics , classical mechanics , geometry , artificial intelligence , evolutionary biology , biology , operating system
Summary This paper investigates the relative attitude formation control problem for a group of rigid‐body agents using relative attitude information on S O (3). On the basis of the gradient of a potential function, a family of distributed angular velocity control laws, which differ in the sense of a geodesic distance dependent function, is proposed. With directed and switching interaction topologies, the desired relative attitude formation is showed to be achieved asymptotically provided that the topology is jointly quasi‐strongly connected. Moreover, several sufficient conditions for the desired formation to be achieved exponentially and almost globally are given. Additionally, numerical examples are provided to illustrate the effectiveness of the proposed distributed control laws. Copyright © 2017 John Wiley & Sons, Ltd.