Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols

Jieqiang Wei; Silun Zhang; Antonio Adaldo; Johan Thunberg; Xiaoming Hu; Karl H. Johansson

doi:10.1109/TAC.2018.2797179

Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols

Jieqiang Wei, Silun Zhang, Antonio Adaldo, Johan Thunberg, Xiaoming Hu, Karl H. Johansson

Research output: Contribution to journal › Article › peer-review

Abstract

The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and nonsmooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

Original language	English
Article number	8267247
Pages (from-to)	3608-3615
Number of pages	8
Journal	IEEE Transactions on Automatic Control
Volume	63
Issue number	10
DOIs	https://doi.org/10.1109/TAC.2018.2797179
Publication status	Published - 2018 Oct
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 1963-2012 IEEE.

Subject classification (UKÄ)

Computational Mathematics

Free keywords

Agents and autonomous systems
finite-time attitude synchronization
network analysis and control
nonlinear systems

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10.1109/TAC.2018.2797179

Cite this

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title = "Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols",

abstract = "The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and nonsmooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.",

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author = "Jieqiang Wei and Silun Zhang and Antonio Adaldo and Johan Thunberg and Xiaoming Hu and Johansson, {Karl H.}",

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AU - Adaldo, Antonio

AU - Thunberg, Johan

AU - Hu, Xiaoming

AU - Johansson, Karl H.

PY - 2018/10

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AB - The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and nonsmooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

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KW - finite-time attitude synchronization

KW - network analysis and control

KW - nonlinear systems

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JF - IEEE Transactions on Automatic Control

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ER -

Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols

Abstract

Bibliographical note

Subject classification (UKÄ)

Free keywords

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Cite this