Almost global attitude consensus of multi-agent rigid bodies on $$\mathrm{TSO}(3)^N$$ in the presence of disturbances and directed topology

Sharma, Manmohan; Kar, Indrani

doi:10.1007/s11071-021-06446-8

Cited by 4 publications

(2 citation statements)

References 32 publications

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“…Consider a group of N rigid bodies described by ( 13) and ( 14) and assume that the communication graph G is directed and connected. Then, the dynamic control law (18)-( 20) in closed loop with (15) and ( 16) achieves attitude synchronization in the sense of (17).…”

Section: Attitude Synchronizationmentioning

confidence: 99%

“…Different approaches are used to represent the attitude of a rigid body, often trying to avoid the singularities produced by the Euler’s angle representation. As an example, Sharma and Kar [ 17 ] propose an almost global controller in the tangent bundle TSO(3) in order to achieve consensus in a group of rigid bodies under a directed graph communication. In this case, the attitude of the bodies is represented by means of rotation matrices.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Attitude Synchronization of a Group of Rigid Bodies Using Exponential Coordinates

Sidón-Ayala,

Pliego-Jiménez,

Cruz-Hernandez

2023

Entropy

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Currently, managing a group of satellites or robot manipulators requires coordinating their motion and work in a cooperative way to complete complex tasks. The attitude motion coordination and synchronization problems are challenging since attitude motion evolves in non-Euclidean spaces. Moreover, the equation of motions of the rigid body are highly nonlinear. This paper studies the attitude synchronization problem of a group of fully actuated rigid bodies over a directed communication topology. To design the synchronization control law, we exploit the cascade structure of the rigid body’s kinematic and dynamic models. First, we propose a kinematic control law that induces attitude synchronization. As a second step, an angular velocity-tracking control law is designed for the dynamic subsystem. We use the exponential coordinates of rotation to describe the body’s attitude. Such coordinates are a natural and minimal parametrization of rotation matrices which almost describe every rotation on the Special Orthogonal group SO(3). We provide simulation results to show the performance of the proposed synchronization controller.

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Section: Attitude Synchronizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%