TY - GEN
T1 - Autonomous rigid body attitude synchronization
AU - Sarlette, Alain
AU - Sepulchre, Rodolphe
AU - Leonard, Naomi Ehrich
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
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U2 - 10.1109/CDC.2007.4434153
DO - 10.1109/CDC.2007.4434153
M3 - Conference contribution
AN - SCOPUS:56749168547
SN - 1424414989
SN - 9781424414987
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2566
EP - 2571
BT - Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 46th IEEE Conference on Decision and Control 2007, CDC
Y2 - 12 December 2007 through 14 December 2007
ER -