Distributed finite-time attitude containment control for multiple rigid bodies
Distributed finite-time attitude containment control for multiple rigid bodies
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DOI：
10.1016/j.automatica.2010.09.005
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发表时间：
2010-12-01
期刊：
影响因子：
6.4
通讯作者：
You, Zheng
中科院分区：
文献类型：
--
作者：
Meng, Ziyang;Ren, Wei;You, Zheng
本文研究了多刚体的分布式有限时间姿态控制问题，当存在多个静止领导者时，利用一跳和两跳邻居信息，提出了一种与模型无关的控制律，以保证follower的姿态在有限时间内收敛于由领导者的姿态组成的平稳凸包，并讨论了单个静止领导者的特殊情况，提出了仅使用一跳的控制律当存在多个动态领导者时，给出了一个分布式滑模估计量和非奇异滑动曲面，以保证follower的姿态和角速度在有限时间内分别收敛于由领导者的姿态和角速度形成的动态凸包，并明确地给出了有限的稳定时间(C)
Distributed finite-time attitude containment control for multiple rigid bodies is addressed in this paper When there exist multiple stationary leaders we propose a model-independent control law to guarantee that the attitudes of the followers converge to the stationary convex hull formed by those of the leaders in finite time by using both the one-hop and two-hop neighbors information We also discuss the special case of a single stationary leader and propose a control law using only the one-hop neighbors information to guarantee cooperative attitude regulation in finite time When there exist multiple dynamic leaders a distributed sliding-mode estimator and a non-singular sliding surface were given to guarantee that the attitudes and angular velocities of the followers converge respectively to the dynamic convex hull formed by those of the leaders in finite time We also explicitly show the finite settling time (C) 2010 Elsevier Ltd All rights reserved