1,198 research outputs found
Asymptotic and finite-time almost global attitude tracking: representations free approach
In this paper, the attitude tracking problem is considered using the rotation
matrices. Due to the inherent topological restriction, it is impossible to
achieve global attractivity with any continuous attitude control system on
. Hence in this work, we propose some control protocols achieve almost
global tracking asymptotically and in finite time, respectively. In these
protocols, no world frame is needed and only relative state informations are
requested. For finite-time tracking case, Filippov solutions and non-smooth
analysis techniques are adopted to handle the discontinuities. Simulation
examples are provided to verify the performances of the control protocols
designed in this paper.Comment: arXiv admin note: text overlap with arXiv:1705.0282
Synchronization of multiple rigid body systems: a survey
The multi-agent system has been a hot topic in the past few decades owing to
its lower cost, higher robustness, and higher flexibility. As a particular
multi-agent system, the multiple rigid body system received a growing interest
since its wide applications in transportation, aerospace, and ocean
exploration. Due to the non-Euclidean configuration space of attitudes and the
inherent nonlinearity of the dynamics of rigid body systems, synchronization of
multiple rigid body systems is quite challenging. This paper aims to present an
overview of the recent progress in synchronization of multiple rigid body
systems from the view of two fundamental problems. The first problem focuses on
attitude synchronization, while the second one focuses on cooperative motion
control in that rotation and translation dynamics are coupled. Finally, a
summary and future directions are given in the conclusion
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