Distributed Control of Rigid Body Reduced Attitude: Synchronization and Balancing

Mohammad Maadani, Eric A. Butcher

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

Abstract

This paper proposes distributed control algorithms for asymptotically stable synchronization and balancing of a multi-agent rigid body reduced attitude system using Lyapunov analysis. In the synchronization of the reduced attitudes and velocities of the rigid bodies, the feedback control design is conducted on the dynamic level in which inertias are not negligible. However, in the balancing problem, the feedback control scheme is designed on the kinematic level while the control objective is the maximization of the minimum relative angular distance between each pair of rigid body reduced attitudes. In both cases, the rigid bodies share their states according to a static communication topology. Asymptotic stability to the desired formation in the nonlinear state space is demonstrated both analytically and through numerical simulations.

Original languageEnglish (US)
Title of host publication2019 6th Indian Control Conference, ICC 2019 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages92-97
Number of pages6
ISBN (Electronic)9781728138602
DOIs
StatePublished - Dec 2019
Event6th Indian Control Conference, ICC 2019 - Hyderabad, India
Duration: Dec 18 2019Dec 20 2019

Publication series

Name2019 6th Indian Control Conference, ICC 2019 - Proceedings

Conference

Conference6th Indian Control Conference, ICC 2019
CountryIndia
CityHyderabad
Period12/18/1912/20/19

ASJC Scopus subject areas

  • Strategy and Management
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Maadani, M., & Butcher, E. A. (2019). Distributed Control of Rigid Body Reduced Attitude: Synchronization and Balancing. In 2019 6th Indian Control Conference, ICC 2019 - Proceedings (pp. 92-97). [9123229] (2019 6th Indian Control Conference, ICC 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICC47138.2019.9123229