Autonomous rigid body attitude synchronization
Autonomous rigid body attitude synchronization
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DOI：
10.1016/j.automatica.2008.09.020
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发表时间：
2009-02-01
期刊：
影响因子：
6.4
通讯作者：
Leonard, Naomi Ehrich
中科院分区：
文献类型：
--
作者：
Sarlette, Alain;Sepulchre, Rodolphe;Leonard, Naomi Ehrich
[Smith，T. R.，Hanssmann，H.，&伦纳德，N.E.（2001）.具有破障潜力的多水下机器人定向控制。在Proc.40th IEEE Conf. Decision and Control（pp. 4598-4603）; Nair，S.，伦纳德，N. E.（2007年）。刚体网络的稳定同步。Networks and Heterogeneous Media，2（4），595-624].本文研究了两个独立的扩展与相同的能量成形方法：（i）本地同步的刚体的姿态，但不限制他们的最终运动和（ii）放松的通信拓扑结构从无向，固定和连接到定向，变化和一致连接。必须为这些扩展开发的具体策略说明了信息减少的姿态控制的局限性。(C)2008爱思唯尔有限公司保留所有权利。
Control laws to synchronize attitudes in a swarm of fully actuated rigid bodies, in the absence of a common reference attitude or hierarchy in the swarm, are proposed in [Smith, T. R., Hanssmann, H., & Leonard, N.E. (2001). Orientation control of multiple underwater vehicles with symmetry-breaking potentials. In Proc. 40th IEEE conf. decision and control (pp. 4598-4603); Nair, S., Leonard, N. E. (2007). Stable synchronization of rigid body networks. Networks and Heterogeneous Media, 2(4), 595-624]. The present paper studies two separate extensions with the same energy shaping approach: (i) locally synchronizing the rigid bodies' attitudes, but without restricting their final motion and (ii) relaxing the communication topology from undirected, fixed and connected to directed, varying and uniformly connected. The specific strategies that must be developed for these extensions illustrate the limitations of attitude control with reduced information. (C) 2008 Elsevier Ltd. All rights reserved.