DocumentCode :
3275221
Title :
Robust global asymptotic attitude synchronization by hybrid control
Author :
Mayhew, C.G. ; Sanfelice, R.G. ; Arcak, M. ; Teel, A.R.
Author_Institution :
Electr. & Comput. Eng. Dept., Univ. of California, Santa Barbara, CA, USA
fYear :
2010
fDate :
June 30 2010-July 2 2010
Firstpage :
3666
Lastpage :
3671
Abstract :
We apply recent results on robust global asymptotic stabilization of the attitude of a single rigid body to the problem of synchronizing the attitude of a network of rigid bodies using graph-local information. The proposed synchronization scheme relies on a hysteretic hybrid feedback based on the unit quaternion representation of rigid body attitude to achieve a global synchronization result that is robust to measurement noise. While the hysteretic feedback manages a trade-off between robustness to measurement noise and unwinding, the scheme necessitates the communication of a single binary logic variable between neighboring rigid bodies.
Keywords :
attitude control; feedback; graph theory; robust control; synchronisation; binary logic variable; graph local information; hybrid control; hysteretic hybrid feedback; rigid bodies network; robust global asymptotic attitude synchronization; unit quaternion representation; Asymptotic stability; Attitude control; Feedback; Hysteresis; Logic; Noise measurement; Noise robustness; Quaternions; Robust control; Space vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
ISSN :
0743-1619
Print_ISBN :
978-1-4244-7426-4
Type :
conf
DOI :
10.1109/ACC.2010.5530428
Filename :
5530428
Link To Document :
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