Autonomous rigid body attitude synchronization

Sarlette, Alain; Sepulchre, Rodolphe; Leonard, Naomi

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Autonomous rigid body attitude synchronization

Sarlette, Alain; Sepulchre, Rodolphe; Leonard, Naomi

2007 • In Proceedings of the 46th IEEE Conference on Decision and Control

Peer reviewed

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https://hdl.handle.net/2268/11939

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Keywords :

attitude control; synchronization; autonomous swarms; rigid body synchronization

Abstract :

[en] 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.

Disciplines :

Engineering, computing & technology: Multidisciplinary, general & others

Author, co-author :

Sarlette, Alain ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation

Sepulchre, Rodolphe ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation

Leonard, Naomi; Princeton University > Mechanical and Aerospace Engineering

Language :

English

Title :

Autonomous rigid body attitude synchronization

Publication date :

December 2007

Event name :

46th IEEE Conference on Decision and Control

Event organizer :

IEEE / CSS

Event place :

New Orleans, United States

Audience :

International

Main work title :

Proceedings of the 46th IEEE Conference on Decision and Control

Pages :

2566-2571

Peer reviewed :

Peer reviewed

Available on ORBi :

since 27 April 2009

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667 (6 by ULiège)

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Scopus citations^®

Scopus citations^®
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