Abstract
We present and analyze 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 three algorithms for orientation consensus using piecewise-continuous sinusoidal controls. Each algorithm can either include or not include a leader, which can be either stationary or rotating. The first algorithm achieves almost global orientation consensus for the case where each agent uses absolute-orientation feedback of its neighbor agents. The second algorithm achieves local orientation consensus for the case where each agent uses relative-orientation feedback of its neighbor agents. The third algorithm achieves local reduced-orientation (i.e., pointing-direction) consensus for the case where each agent uses pointing-direction feedback of its neighbor agents. We also present numerical simulations to demonstrate these algorithms.
Original language | English |
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Article number | 109262 |
Journal | Automatica |
Volume | 122 |
DOIs | |
State | Published - Dec 2020 |
Bibliographical note
Publisher Copyright:© 2020 Elsevier Ltd
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering