2,993 research outputs found
Distributed Adaptive Attitude Synchronization of Multiple Spacecraft
This paper addresses the distributed attitude synchronization problem of
multiple spacecraft with unknown inertia matrices. Two distributed adaptive
controllers are proposed for the cases with and without a virtual leader to
which a time-varying reference attitude is assigned. The first controller
achieves attitude synchronization for a group of spacecraft with a leaderless
communication topology having a directed spanning tree. The second controller
guarantees that all spacecraft track the reference attitude if the virtual
leader has a directed path to all other spacecraft. Simulation examples are
presented to illustrate the effectiveness of the results.Comment: 13 pages, 11 figures. To appear in SCIENCE CHINA Technological
Science
Spacecraft Position and Attitude Formation Control using Line-of-Sight Observations
This paper studies formation control of an arbitrary number of spacecraft
based on a serial network structure. The leader controls its absolute position
and absolute attitude with respect to an inertial frame, and the followers
control its relative position and attitude with respect to another spacecraft
assigned by the serial network. The unique feature is that both the absolute
attitude and the relative attitude control systems are developed directly in
terms of the line-of-sight observations between spacecraft, without need for
estimating the full absolute and relative attitudes, to improve accuracy and
efficiency. Control systems are developed on the nonlinear configuration
manifold, guaranteeing exponential stability. Numerical examples are presented
to illustrate the desirable properties of the proposed control system
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
Comprehensive review on controller for leader-follower robotic system
985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies
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