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Autonomous rigid body attitude synchronization

Sarlette, A and Sepulchre, R and Leonard, NE (2009) Autonomous rigid body attitude synchronization. Automatica, 45. pp. 572-577. ISSN 0005-1098

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Control laws to synchronize attitudes in a swarm of fully actuated rigid bodies, in the absence of a common reference attitude or hierarchy in the swarm, are proposed in [Smith, T. R., Hanssmann, H., & Leonard, N.E. (2001). Orientation control of multiple underwater vehicles with symmetry-breaking potentials. In Proc. 40th IEEE conf. decision and control (pp. 4598-4603); Nair, S., Leonard, N. E. (2007). Stable synchronization of rigid body networks. Networks and Heterogeneous Media, 2(4), 595-624]. The present paper studies two separate extensions with the same energy shaping approach: (i) locally synchronizing the rigid bodies' attitudes, but without restricting their final motion and (ii) relaxing the communication topology from undirected, fixed and connected to directed, varying and uniformly connected. The specific strategies that must be developed for these extensions illustrate the limitations of attitude control with reduced information. © 2008 Elsevier Ltd.

Item Type: Article
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 18:59
Last Modified: 09 Sep 2021 01:33
DOI: 10.1016/j.automatica.2008.09.020