Open AccessCoordinated attitude motion control of multiple rigid bodies on manifold SO (3)
Author(s) -
Weng Shengxuan,
Yue Dong,
Yang Taicheng
Publication year - 2013
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2013.0236
Subject(s) - rigid body , control theory (sociology) , invariant (physics) , lie group , motion (physics) , manifold (fluid mechanics) , stability theory , mathematics , control (management) , group (periodic table) , computer science , engineering , artificial intelligence , pure mathematics , physics , classical mechanics , nonlinear system , mechanical engineering , quantum mechanics , mathematical physics
As a special case of consensus on non‐linear spaces, in this study coordinated attitude motion control for a group of rigid bodies is investigated for second‐order systems on Lie group SO (3). By introducing an auxiliary variable for each rigid body, the distributed controllers are designed so that the left‐invariant coordination is asymptotically achieved and total coordination is at least locally asymptotically achieved. Simulation results for a multi‐agent system consist of four rigid bodies show the effectiveness of the proposed design.