2 research outputs found
Consensus under Misaligned Orientations
This paper presents a consensus algorithm under misaligned orientations,
which is defined as (i) misalignment to global coordinate frame of local
coordinate frames, (ii) biases in control direction or sensing direction, or
(iii) misaligned virtual global coordinate frames. After providing a
mathematical formulation, we provide some sufficient conditions for consensus
or for divergence. Besides the stability analysis, we also conduct some
analysis for convergence characteristics in terms of locations of eigenvalues.
Through a number of numerical simulations, we would attempt to understand the
behaviors of misaligned consensus dynamics.Comment: 23 pages, 9 figure