Finite-time attitude synchronization with distributed discontinuous protocols
Optimization and Control
2017-05-09 v1
Abstract
The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.
Cite
@article{arxiv.1705.02821,
title = {Finite-time attitude synchronization with distributed discontinuous protocols},
author = {Jieqiang Wei and Silun Zhang and Antonio Adaldo and Johan Thunberg and Xiaoming Hu and Karl H. Johansson},
journal= {arXiv preprint arXiv:1705.02821},
year = {2017}
}
Comments
arXiv admin note: text overlap with arXiv:1704.03190