Attitude consensus control of a rigid body multi-vehicle system with heterogeneous communication delays

Mohammad Maadani, Eric A. Butcher

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

In this paper, the attitude consensus control of a rigid body multi-vehicle system with communication time delays is studied using rotation matrices. The control objectives are attained under a fixed and undirected communication topology. Heterogeneous communication delays that are inherently present in transmission systems are considered in this paper, and sufficient conditions are derived to achieve almost global asymptotic stability of the consensus subspace. Consensus protocols are proposed for control of N heterogeneous rigid bodies in the framework of the tangent bundle TSO(3) associated with Lie group SO(3). Finally, simulation examples are given to demonstrate the proposed method.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2021 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
Pages1-18
Number of pages18
ISBN (Print)9781624106095
StatePublished - 2021
EventAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021 - Virtual, Online
Duration: Jan 11 2021Jan 15 2021

Publication series

NameAIAA Scitech 2021 Forum

Conference

ConferenceAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021
CityVirtual, Online
Period1/11/211/15/21

ASJC Scopus subject areas

  • Aerospace Engineering

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