Rigid body attitude synchronization with communication delays

Author

Abdessameud, A. ; Tayebi, Arash ; Polushin, Ilia G.

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, ON, Canada

fYear

2012

fDate

27-29 June 2012

Firstpage

3736

Lastpage

3741

Abstract

The paper addresses the cooperative attitude synchronization problem of multiple rigid bodies in the presence of communication delays and without angular velocity measurements. First, we present a solution to the leaderless and leader-follower problems in the case of time-varying communication delays and undirected communication topology. Next, we present an attitude synchronization scheme for the leaderless problem, under a directed graph topology, in the presence of constant communication delays. To demonstrate the effectiveness of the proposed control schemes, simulation results of a scenario of four rigid bodies are provided.

Keywords

angular velocity measurement; attitude control; delays; directed graphs; synchronisation; time-varying systems; angular velocity measurements; constant communication delays; cooperative attitude synchronization problem; directed graph topology; leader-follower problems; leaderless problems; multiple rigid bodies; rigid body attitude synchronization; time-varying communication delays; undirected communication topology; Angular velocity; Delay; Synchronization; Topology; Torque; Vectors; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2012

Conference_Location

Montreal, QC

ISSN

0743-1619

Print_ISBN

978-1-4577-1095-7

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2012.6315124

Filename

6315124