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An intrinsic approach to formation control of regular polyhedra for reduced attitudes
MIT, LIDS, 77 Massachusetts Ave, Cambridge, MA 02139 USA..
Harbin Inst Technol, Control & Simulat Ctr, Harbin 150001, Heilongjiang, Peoples R China..
Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China..
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2020 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 111, article id 108619Article in journal (Refereed) Published
Abstract [en]

This paper addresses formation control of reduced attitudes in which a continuous control protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol contains only relative reduced attitude measurements and does not depend on any particular parametrization as is usually used in the literature. A key feature of the control proposed is that it is intrinsic in the sense that it does not need to incorporate any information of the desired formation. Instead, the achieved formation pattern is totally attributed to the geometric properties of the space and the designed inter-agent connection topology. Using a novel coordinates transformation, asymptotic stability of the desired formations is proven by studying stability of a constrained nonlinear system. In addition, a methodology to investigate stability of such constrained systems is also presented.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2020. Vol. 111, article id 108619
Keywords [en]
Attitude control, Distributed control, Formation control, Nonlinear systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-266517DOI: 10.1016/j.automatica.2019.108619ISI: 000504513100030Scopus ID: 2-s2.0-85072982775OAI: oai:DiVA.org:kth-266517DiVA, id: diva2:1391741
Note

QC 20200205

Available from: 2020-02-05 Created: 2020-02-05 Last updated: 2020-02-05Bibliographically approved

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