Group attitude cooperative control of multiple rigid bodies system with switching topologies

被引：0
|
作者：
Wang S. [1 ]
Zhou S. [1 ]
Zhang J. [2 ]
机构：
[1] Naval Aviation University, Yantai
[2] Navy Submarine Academy, Qingdao
来源：
Xitong Gongcheng Lilun yu Shijian/System Engineering Theory and Practice | 2021年 / 41卷 / 11期
基金：
中国国家自然科学基金;
关键词：
Attitude cooperation; Dwelling time; Group; Multiple rigid bodies system; Switching topologies;
D O I：
10.12011/SETP2020-0273
中图分类号：
学科分类号：
摘要：
Group attitude cooperative control of multiple rigid bodies system is investigated in this paper. The attitude of rigid bodies is described by modified Rodrigues parameters. The multiple rigid bodies system is constructed with several subgroups in it, and the switching topologies are denoted by block adjacency matrix and block Laplacian matrix. The definition of group attitude cooperation is provided, and distributed control input is designed. It is proved that the topologies being connected is the sufficient and necessary condition for multiple rigid bodies system to achieve group attitude cooperation. And the system reaching group attitude cooperation is not influenced by the dwelling time of each topology. Lyapunov stability theory is applied in the theoretical analysis. Computer simulation shows the correctness and effectiveness of the method proposed, and the simulation results show that if the switching topologies are not connected, the system cannot reach group attitude cooperation. © 2021, Editorial Board of Journal of Systems Engineering Society of China. All right reserved.
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页码：3055 / 3064
页数：9
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