Intrinsic tetrahedron formation of reduced attitude

doi:10.1016/j.automatica.2017.10.023

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	Intrinsic tetrahedron formation of reduced attitude
	Zhang, Silun 1,2; Song, Wenjun 1; He, Fenghua 2; Hong, Yiguang3 ; Hu, Xiaoming 1
刊名	AUTOMATICA
	2018
卷号	87 页码:375-382
关键词	Attitude control Distributed control Formation control Nonlinear systems
ISSN号	0005-1098
DOI	10.1016/j.automatica.2017.10.023
英文摘要	In this paper, formation control for reduced attitude is studied, in which a regular tetrahedron formation can be achieved and shown to be asymptotically stable under a large family of gain functions in the control. Moreover, by further restriction on the control gain, almost global stability of the desired formation is obtained. In addition, the control proposed is an intrinsic protocol that only uses relative information and does not need to contain any information of the desired formation beforehand. The constructed formation pattern is totally attributed to the geometric properties of the space and the designed inter agent connection topology. Besides, a novel coordinates transformation is proposed to represent the relative reduced attitudes in 82, which is shown to be an efficient approach to reduced attitude formation problems. (C) 2017 Elsevier Ltd. All rights reserved.
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号	WOS:000423002400042
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/29327]
专题	系统科学研究所
通讯作者	Hu, Xiaoming
作者单位	1.KTH Royal Inst Technol, Dept Math, Optimizat & Syst Theory, S-10044 Stockholm, Sweden 2.Harbin Inst Technol, Control & Simulat Ctr, Harbin 150001, Heilongjiang, Peoples R China 3.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Silun,Song, Wenjun,He, Fenghua,et al. Intrinsic tetrahedron formation of reduced attitude[J]. AUTOMATICA,2018,87:375-382.
APA	Zhang, Silun,Song, Wenjun,He, Fenghua,Hong, Yiguang,&Hu, Xiaoming.(2018).Intrinsic tetrahedron formation of reduced attitude.AUTOMATICA,87,375-382.
MLA	Zhang, Silun,et al."Intrinsic tetrahedron formation of reduced attitude".AUTOMATICA 87(2018):375-382.