An intrinsic approach to formation control of regular polyhedra for reduced attitudes
文献类型：期刊论文
| 作者 | Zhang, Silun2; He, Fenghua4; Hong, Yiguang3; Hu, Xiaoming1 |
| 刊名 | AUTOMATICA
 |
| 出版日期 | 2020 |
| 卷号 | 111页码:8 |
| 关键词 | Attitude control Distributed control Formation control Nonlinear systems |
| ISSN号 | 0005-1098 |
| DOI | 10.1016/j.automatica.2019.108619 |
| 英文摘要 | This paper addresses formation control of reduced attitudes in which a continuous control protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol contains only relative reduced attitude measurements and does not depend on any particular parametrization as is usually used in the literature. A key feature of the control proposed is that it is intrinsic in the sense that it does not need to incorporate any information of the desired formation. Instead, the achieved formation pattern is totally attributed to the geometric properties of the space and the designed inter-agent connection topology. Using a novel coordinates transformation, asymptotic stability of the desired formations is proven by studying stability of a constrained nonlinear system. In addition, a methodology to investigate stability of such constrained systems is also presented. (C) 2019 Elsevier Ltd. All rights reserved. |
| 资助项目 | Swedish Research Council[2013-05438] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000504513100030 |
| 出版者 | PERGAMON-ELSEVIER SCIENCE LTD |
| 源URL | [http://ir.amss.ac.cn/handle/2S8OKBNM/50525]  |
| 专题 | 中国科学院数学与系统科学研究院 |
| 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.MIT, LIDS, 77 Massachusetts Ave, Cambridge, MA 02139 USA 3.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China 4.Harbin Inst Technol, Control & Simulat Ctr, Harbin 150001, Heilongjiang, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Silun,He, Fenghua,Hong, Yiguang,et al. An intrinsic approach to formation control of regular polyhedra for reduced attitudes[J]. AUTOMATICA,2020,111:8. |
| APA | Zhang, Silun,He, Fenghua,Hong, Yiguang,&Hu, Xiaoming.(2020).An intrinsic approach to formation control of regular polyhedra for reduced attitudes.AUTOMATICA,111,8. |
| MLA | Zhang, Silun,et al."An intrinsic approach to formation control of regular polyhedra for reduced attitudes".AUTOMATICA 111(2020):8. |
入库方式： OAI收割
来源：数学与系统科学研究院
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