Attitude Synchronization of Multiple Rigid Bodies With Communication Delays

Abdessameud, Abdelkader; Tayebi, Abdelhamid; Polushin, Ilia G.

doi:10.1109/tac.2012.2188428

Cited by 124 publications

(65 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In addition to constant delays, a virtual systems approach has been suggested in Tayebi (2011b, 2013) to account for input saturations and remove the requirements of velocity measurements. Control schemes that consider time-varying communication delays have also been proposed for some second-order nonlinear multi-agent systems in Tayebi (2011a, 2013); Abdessameud, Tayebi, and Polushin (2012) ;Erdong, Xiaolei, and Zhaowei (2008); Nuño, Sarras, and Basañez (2013), in the case of undirected interconnection graphs, and in Abdessameud, Polushin, and Tayebi (2014a) in the case of more general directed interconnection topologies.…”

Section: Introductionmentioning

confidence: 99%

Synchronization of nonlinear systems with communication delays and intermittent information exchange

2015

Self Cite

View full text Add to dashboard Cite

Section: Introductionmentioning

confidence: 99%

Synchronization of nonlinear systems with communication delays and intermittent information exchange

2015

Self Cite

View full text Add to dashboard Cite

“…Among the few controllers that do not rely on velocities are the following: in (Aldana et al, 2014), using a velocity filter, and in (Ren, 2009), with a bounded controller, the leaderless consensus is solved for undelayed networks of EL-systems; Abdessameud et al (2012) solves the consensus problem for the attitude of rigid bodies by using a virtual system for each agent, and Abdessameud and Tayebi (2013), the consensus problem is solved for linear second-order systems. Zheng and Wang (2012) solves the leaderless consensus problem for linear heterogeneous-first and second order systems-but without interconnecting delays.…”

Section: Introductionmentioning

confidence: 99%

A Passivity-based Controller without Velocity Measurements for the Leaderless Consensus of Euler-Lagrange Systems

2017

View full text Add to dashboard Cite

This paper deals with the problem of achieving consensus of multiple interconnected Euler-Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity-based control. It proposes a novel decentralized controller that is capable of solving the leaderless consensus problem in networks of fully-actuated EL-systems with interconnecting time-varying delays and without employing velocity measurements. The paper also presents experimental results that provide evidence of the performance of the novel controller.

show abstract

“…Research on attitude control of spacecraft, especially attitude synchronisation among multiple spacecraft, has long been of interest in recent years because of the theoretical significance and broad applications [1][2][3][4][5][6][7][8][9][10][11][12]. For instance, in deep space exploration, a coordinated cluster of micro-satellites can replace the traditional large and expensive spacecraft to complete a common task, and such schemes can offer the superiorities of low cost, high flexibility, high impact and so on.…”

Section: Introductionmentioning

confidence: 99%

“…This study can also be applied to formation manoeuvres in interferometry application, stereo imaging, passive radiometry, terrain mapping and so on [8,13]. Some solutions about attitude control problem for multiple spacecraft can be found in [7,[14][15][16][17][18]. However, they did not consider the model uncertainties or unknown disturbances.…”

mentioning

confidence: 99%

Distributed cooperative control design for finite‐time attitude synchronisation of rigid spacecraft

Zhou

Xia

et al. 2015

IET Control Theory & Applications

View full text Add to dashboard Cite

Two finite-time control algorithms are developed for distributed cooperative attitude synchronisation of multiple spacecraft with a dynamic virtual leader. Each spacecraft is modelled as a rigid body incorporating with model uncertainty and unknown external disturbance. The virtual leader gives commands to some of the follower spacecraft, and the communication network between followers can be an undirected or a directed graph. By using two neighbourhood synchronisation error signals, a finite-time control algorithm is designed associated with adaptive mechanism such that all follower spacecraft synchronise to the virtual leader in finite time. Then a novel estimator-based finite-time distributed cooperative control algorithm is developed by using the followers' estimates of the virtual leader, and the convergence of the attitude and angular velocity errors can be guaranteed in finite time. Moreover, both of the control strategies are chattering-free for their continuous design. Simulation examples are illustrated to demonstrate the validity of the two algorithms. IntroductionResearch on attitude control of spacecraft, especially attitude synchronisation among multiple spacecraft, has long been of interest in recent years because of the theoretical significance and broad applications [1][2][3][4][5][6][7][8][9][10][11][12]. For instance, in deep space exploration, a coordinated cluster of micro-satellites can replace the traditional large and expensive spacecraft to complete a common task, and such schemes can offer the superiorities of low cost, high flexibility, high impact and so on. Besides that, the requirement of keeping the precise relative attitude is essential in inter-spacecraft laser communication operation. This study can also be applied to formation manoeuvres in interferometry application, stereo imaging, passive radiometry, terrain mapping and so on [8,13]. Some solutions about attitude control problem for multiple spacecraft can be found in [7,[14][15][16][17][18]. However, they did not consider the model uncertainties or unknown disturbances. A virtual systems-based control algorithm was proposed for the attitude synchronisation problem in [7] without using the angular velocity measurements, it provided a new approach to address the timevarying communication delays and angular velocity unavailable together. A formation flying control problem of multiple spacecraft was studied in [16] by using a novel fast terminal sliding manifold (FTSM) and adaptive control, and a distributed attitude coordination control scheme was developed with a constraint about the initial condition to achieve finite time convergence. Similar to [16,17] also relied on a constraint about the initial condition and proposed a distributed output feedback attitude coordination control algorithm for spacecraft formation flying without using the angular velocities. A leader-following consensus problem was investigated in [18] for multiple rigid spacecraft, by applying a non-linear distributed observer, a distributed control scheme ...

show abstract

Attitude Synchronization of Multiple Rigid Bodies With Communication Delays

Cited by 124 publications

References 19 publications

Synchronization of nonlinear systems with communication delays and intermittent information exchange

Synchronization of nonlinear systems with communication delays and intermittent information exchange

A Passivity-based Controller without Velocity Measurements for the Leaderless Consensus of Euler-Lagrange Systems

Distributed cooperative control design for finite‐time attitude synchronisation of rigid spacecraft

Contact Info

Product

Resources

About