Autonomous rigid body attitude synchronization

Alain Sarlette, Rodolphe Sepulchre, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Pages2566-2571
Number of pages6
DOIs
StatePublished - 2007
Event46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
Duration: Dec 12 2007Dec 14 2007

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other46th IEEE Conference on Decision and Control 2007, CDC
CountryUnited States
CityNew Orleans, LA
Period12/12/0712/14/07

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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