Sarlette, A and Sepulchre, R and Leonard, NE (2007) Autonomous rigid body attitude synchronization. In: UNSPECIFIED pp. 2566-2571..Full text not available from this repository.
This paper studies some extensions to the decentralized attitude synchronization of identical rigid bodies. Considering fully actuated Euler equations, the communication links between the rigid bodies are limited and the available information is restricted to relative orientations and angular velocities. In particular, no leader nor external reference dictates the swarm's behavior. The control laws are derived using two classical approaches of nonlinear control - tracking and energy shaping. This leads to a comparison of two corresponding methods which are currently considered for distributed synchronization - consensus and stabilization of mechanical systems with symmetries. © 2007 IEEE.
|Item Type:||Conference or Workshop Item (UNSPECIFIED)|
|Divisions:||Div F > Control|
|Depositing User:||Cron job|
|Date Deposited:||16 Jul 2015 13:32|
|Last Modified:||02 Sep 2015 02:33|