Abstract:
This paper studies discrete-time attitude synchronization for a group of networked rigid bodies in three dimensions. The challenge is how to deal with 3-D attitude motion...Show MoreMetadata
Abstract:
This paper studies discrete-time attitude synchronization for a group of networked rigid bodies in three dimensions. The challenge is how to deal with 3-D attitude motion dynamics on the Special Orthogonal group: SO(3) in the discrete-time domain, and it is rigorously considered by employing exponential mapping. The rigid body network consisting of multiple bodies with discrete-time attitude dynamics, relative attitude measurements, and directed interconnection topology between the bodies is first defined. Attitude synchronization is next defined as the goal for the rigid body network. Then, as the main feature of this work, it is newly shown that each attitude dynamics has a passivity shortage property, and novel distributed attitude synchronization laws based on the property are proposed. Convergence analysis and simulation verification show the validity of the present approach.
Published in: 2018 IEEE Conference on Decision and Control (CDC)
Date of Conference: 17-19 December 2018
Date Added to IEEE Xplore: 20 January 2019
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