Consensus on SO(3) with Piecewise-Continuous Sinusoids

Roshan Chavan, Shaoqian Wang, T. Michael Seigler, Jesse B. Hoagg

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

We present feedback control algorithms for multi-agent orientation consensus on SO(3), where each agent's angular-velocity control is restricted to be a piecewise-continuous sinusoid. The main results are two algorithms for orientation consensus. The first algorithm achieves local orientation consensus for the case where each agent uses relative-orientation feedback of its neighbor agents. The second algorithm achieves almost global orientation consensus for the case where each agent uses absolute-orientation feedback of its neighbor agents. We also present numerical simulations to demonstrate these orientation consensus algorithms.

Original languageEnglish
Title of host publication2018 Annual American Control Conference, ACC 2018
Pages1635-1640
Number of pages6
DOIs
StatePublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Publication series

NameProceedings of the American Control Conference
Volume2018-June
ISSN (Print)0743-1619

Conference

Conference2018 Annual American Control Conference, ACC 2018
Country/TerritoryUnited States
CityMilwauke
Period6/27/186/29/18

Bibliographical note

Publisher Copyright:
© 2018 AACC.

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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