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Robust global distributed attitude control for multiple rigid bodies using a hybrid controller
International Journal of Systems Science ( IF 4.9 ) Pub Date : 2020-04-25 , DOI: 10.1080/00207721.2020.1758232
Paulo P. M. Magro 1 , Hugo Tadashi M. Kussaba 2 , João Yoshiyuki Ishihara 2
Affiliation  

ABSTRACT This work proposes a distributed attitude synchronisation control for an undirected connected network of agents that robustly globally asymptotically stabilises the synchronised state. The strategy uses a quaternion representation of the attitude and hysteretic hybrid feedback with one binary logic variable for each agent to solve the problems arisen when purely continuous or memoryless discontinuous state-feedback laws are employed, such as the unwinding phenomenon and sensitivity to chattering. Compared to the scenario of a single rigid-body, for the strategy employed, the multiple rigid bodies scenario, a stronger requirement on the hysteresis half-width is necessary. Simulation results show the performance of the proposed controller in a six-agent scenario in contrast with another controller reported in the literature using a non-hybrid continuous feedback law.

中文翻译:

使用混合控制器对多刚体进行鲁棒全局分布式姿态控制

摘要这项工作提出了一种分布式姿态同步控制,用于代理的无向连接网络,该网络稳健地全局渐近地稳定同步状态。该策略使用姿态和滞后混合反馈的四元数表示,每个代理都有一个二元逻辑变量,以解决在采用纯连续或无记忆的不连续状态反馈定律时出现的问题,例如展开现象和对颤动的敏感性。与单刚体的场景相比,对于所采用的策略,多刚体场景,对滞后半宽的要求更高。
更新日期:2020-04-25
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