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

Forskningsoutput: Tidskriftsbidrag › Artikel i vetenskaplig tidskrift › Peer review

Sammanfattning

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.

Originalspråk	engelska
Artikelnummer	8267247
Sidor (från-till)	3608-3615
Antal sidor	8
Tidskrift	IEEE Transactions on Automatic Control
Volym	63
Nummer	10
DOI	https://doi.org/10.1109/TAC.2018.2797179
Status	Published - 2018 okt.
Externt publicerad	Ja

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© 1963-2012 IEEE.

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10.1109/TAC.2018.2797179

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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.",

keywords = "Agents and autonomous systems, finite-time attitude synchronization, network analysis and control, nonlinear systems",

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.

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KW - finite-time attitude synchronization

KW - network analysis and control

KW - nonlinear systems

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Finite-Time Attitude Synchronization with Distributed Discontinuous Protocols

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