CUED Publications database

Synchronization with partial state feedback on SO(n)

Lageman, C and Sarlette, A and Sepulchre, R (2009) Synchronization with partial state feedback on SO(n). Proceedings of the IEEE Conference on Decision and Control. pp. 1696-1701. ISSN 0191-2216

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In this paper we consider the problem of constructing a distributed feedback law to achieve synchronization for a group of k agents whose states evolve on SO(n) and which exchange only partial state information along communication links. The partial state information is given by the action of the state on reference vectors in ℝn. We propose a gradient based control law which achieves exponential local convergence to a synchronization configuration under a rank condition on a generalized Laplacian matrix. Furthermore, we discuss the case of time-varying reference vectors and provide a convergence result for this case. The latter helps reach synchronization, requiring less communication links and weaker conditions on the instantaneous reference vectors. Our methods are illustrated on an attitude synchronization problem where agents exchange only their relative positions observed in the respective body frames. ©2009 IEEE.

Item Type: Article
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:15
Last Modified: 02 Sep 2021 04:15
DOI: 10.1109/CDC.2009.5399689