Journal ArticleDOI
Distributed Cooperative Attitude Synchronization and Tracking for Multiple Rigid Bodies
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In this paper, distributed cooperative attitude synchronization and tracking problems are considered for multiple rigid bodies with attitudes represented by modified rodriguez parameters and two distributed control laws are proposed and analyzed.Abstract:
In this paper, distributed cooperative attitude synchronization and tracking problems are considered for multiple rigid bodies with attitudes represented by modified rodriguez parameters. Two distributed control laws are proposed and analyzed. The first control law applies a passivity approach for distributed attitude synchronization. The control law guarantees attitude synchronization without the requirement for absolute angular velocity measurements and relative angular velocity measurements between neighboring rigid bodies. The second control law incorporates a time-varying reference attitude, where the reference attitude is allowed to be available to only a subset of the group members under general directed information exchange. The control law guarantees that all rigid bodies track the time-varying reference attitude as long as a virtual leader whose attitude is the time-varying reference attitude has a directed path to all other rigid bodies in the group. Simulation results are presented to demonstrate the effectiveness of the two control laws.read more
Citations
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An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination
TL;DR: In this article, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006 and proposed several promising research directions along with some open problems that are deemed important for further investigations.
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An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
TL;DR: In this paper, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006, and proposed several promising research directions along with some open problems that are deemed important for further investigations.
Journal ArticleDOI
Distributed robust finite-time nonlinear consensus protocols for multi-agent systems
Zongyu Zuo,Lin Tie +1 more
TL;DR: It is shown that the finite settling time of the proposed general framework for robust consensus design is upper bounded for any initial condition, which makes it possible for network consensus problems to design and estimate the convergence time offline for a multi-agent team with a given undirected information flow.
Journal ArticleDOI
A new class of finite-time nonlinear consensus protocols for multi-agent systems
Zongyu Zuo,Lin Tie +1 more
TL;DR: It is shown that the settling time of the proposed new class of finite-time consensus protocols is upper bounded for arbitrary initial conditions, which makes it possible for network consensus problems that the convergence time is designed and estimated offline for a given undirected information flow and a group volume of agents.
Journal ArticleDOI
Robust consensus tracking of a class of second-order multi-agent dynamic systems
TL;DR: A robust consensus tracking problem for a class of second-order multi-agent systems has been addressed in the presence of disturbances and unmodeled dynamics using algebraic graph theory, Lyapunov-based analysis, and an invariance-like theorem.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Consensus seeking in multiagent systems under dynamically changing interaction topologies
Wei Ren,Randal W. Beard +1 more
TL;DR: It is shown that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs have a spanning tree frequently enough as the system evolves.
Journal ArticleDOI
Information consensus in multivehicle cooperative control
TL;DR: Theoretical results regarding consensus-seeking under both time invariant and dynamically changing communication topologies are summarized in this paper, where several specific applications of consensus algorithms to multivehicle coordination are described.