Reference : Synchronization with partial state feedback on SO(n),
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Multidisciplinary, general & others
http://hdl.handle.net/2268/20362
Synchronization with partial state feedback on SO(n),
English
Lageman, Christian mailto [> > > >]
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 >]
Dec-2009
Proceedings of the 48th IEEE Conference on Decision and Control
1696-1701
Yes
International
48th IEEE Conference on Decision and Control
from 15-12-2009 to 18-12-2009
IEEE
Shanghai
China
[en] This paper considers the problem of constructing a distributed feedback law to achieve synchronization for a group of k agents whose states evolve on SO(n) and which exchange only partial state information along communication links. The partial state information is given by the action of the state on reference vectors
in Rn. We propose a gradient based control law which achieves exponential local convergence to a synchronization configuration under a rank condition on a generalized Laplacian matrix. Furthermore, we discuss the case of time-varying reference vectors and provide a convergence result for this case. The latter helps reach synchronization, requiring less communication links and weaker conditions on the instantaneous reference vectors. Our methods are illustrated on an attitude synchronization problem where agents exchange only their relative positions observed in the respective body frames.
Systems and Modeling
This paper presents research results of the Belgian Network DYSCO (Dynamical Systems, Control, and Optimization), funded by the Interuniversity Attraction Poles Programme, initiated by the Belgian State, Science Policy Office.
http://hdl.handle.net/2268/20362
10.1109/CDC.2009.5399689
http://www.montefiore.ulg.ac.be/~sarlette/publi.html

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