Intrinsic reduced attitude formation with ring inter-agent graph

• Autores: Wenjun Dong, Johan Markdahl, Yilun Shang, Xiaoming Hu, Yiguang Hong
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 85, 2017, págs. 193-201
• Idioma: inglés
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• Resumen

  • Abstract This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that reversing the sign of a classic consensus protocol yields asymptotical convergence to formations whose shape depends on the parity of the group size. Specifically, in the case of even parity the reduced attitudes converge asymptotically to a pair of antipodal points and distribute equidistantly on a great circle in the case of odd parity. Moreover, when the inter-agent graph is an undirected ring, the desired formation is shown to be achieved from almost all initial states.