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Distributed high-gain attitude synchronization using rotation vectors

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Abstract

This paper addresses attitude synchronization problems for systems of multiple rigid-body agents with directed interconnection topologies. Two scenarios which differ in available information are considered. In the first scenario the agents can obtain their rotations and angular velocities relative to an inertial reference frame and transmit these information to their neighbors, while in the second scenario the agents can only obtain their own angular velocities and measure the relative rotations and relative angular velocities of their neighbors. By using rotation vectors and the high gain control, the authors provide torque control laws asymptotically synchronizing the rotations of the system almost globally for the first scenario and with initial rotations of the agents contained in a convex ball of SO(3) for the second scenario. An illustrative example is provided to show the synchronization results for both scenarios.

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Author information

Authors and Affiliations

  1. Key Laboratory of Systems and Control, Chinese Academy of Sciences, Beijing, 100190, China

    Wenjun Song & Yiguang Hong

  2. Optimization and Systems Theory, Royal Institute of Technology, Stockholm, 10044, Sweden

    Johan Thunberg & Xiaoming Hu

Authors
  1. Wenjun Song
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  2. Johan Thunberg
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  3. Xiaoming Hu
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  4. Yiguang Hong
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Corresponding author

Correspondence to Wenjun Song.

Additional information

This work was supported by Beijing Natural Science Foundation under Grant No. 4152057 and 973 program (2014CB845301/2/3).

This paper was recommended for publication by Editor LÜ Jinhu.

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Song, W., Thunberg, J., Hu, X. et al. Distributed high-gain attitude synchronization using rotation vectors. J Syst Sci Complex 28, 289–304 (2015). https://doi.org/10.1007/s11424-015-3107-3

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  • DOI: https://doi.org/10.1007/s11424-015-3107-3

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