Reference : Autonomous rigid body attitude synchronization
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Multidisciplinary, general & others
http://hdl.handle.net/2268/11939
Autonomous rigid body attitude synchronization
English
Sarlette, Alain mailto [Université de Liège - ULg > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation >]
Sepulchre, Rodolphe mailto [Université de Liège - ULg > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation >]
Leonard, Naomi mailto [Princeton University > Mechanical and Aerospace Engineering > > >]
Dec-2007
Proceedings of the 46th IEEE Conference on Decision and Control
2566-2571
Yes
No
International
46th IEEE Conference on Decision and Control
IEEE / CSS
New Orleans
USA
[en] attitude control ; synchronization ; autonomous swarms
[fr] rigid body synchronization
[en] This paper studies some extensions to the decentralized attitude synchronization of identical rigid bodies. Considering fully actuated Euler equations, the communication links between the rigid bodies are limited and the available information is restricted to relative orientations and angular velocities. In particular, no leader nor external reference dictates the swarm's behavior. The control laws are derived using two classical approaches of nonlinear control - tracking and energy shaping. This leads to a comparison of two corresponding methods which are currently considered for distributed synchronization - consensus and stabilization of mechanical systems with symmetries.
http://hdl.handle.net/2268/11939

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