Distributed attitude synchronization for multiple rigid bodies subject to input saturation

Gao Dai; Hongyan Li; Jianting Lyu; Liyong Luo

doi:10.1109/CCDC.2015.7162116

Distributed attitude synchronization for multiple rigid bodies subject to input saturation

Gao Dai
, Hongyan Li
, Jianting Lyu
, Liyong Luo

School of Mechatronics Engineering, Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Attitude synchronization problem for multiple rigid bodies subject to input saturation is studied in this paper. By introducing a bounded function, a distributed attitude control algorithm is designed for multiple rigid bodies in the presence of input saturation under a directed topology. With Lyapunov theory and algebraic graph theory, rigorous proof of global asymptotical stability of closed-loop system is given. Then, based on finite-time control technology, a distributed attitude control algorithm for multiple rigid bodies is proposed to guarantee global finite-time stability of closed-loop system, and which satisfies the requirement of input saturation. At the end, numerical simulations are given and the results verify the feasibility and effectiveness of the proposed control algorithm.

Original language	English
Title of host publication	Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1284-1288
Number of pages	5
ISBN (Electronic)	9781479970179
DOIs	https://doi.org/10.1109/CCDC.2015.7162116
State	Published - 17 Jul 2015
Externally published	Yes
Event	27th Chinese Control and Decision Conference, CCDC 2015 - Qingdao, China Duration: 23 May 2015 → 25 May 2015

Publication series

Name	Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015

Conference

Conference	27th Chinese Control and Decision Conference, CCDC 2015
Country/Territory	China
City	Qingdao
Period	23/05/15 → 25/05/15

Keywords

attitude synchronization
distributed control
input saturation
multiple rigid bodies

Access to Document

10.1109/CCDC.2015.7162116

Cite this

Dai, G., Li, H., Lyu, J., & Luo, L. (2015). Distributed attitude synchronization for multiple rigid bodies subject to input saturation. In Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015 (pp. 1284-1288). Article 7162116 (Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2015.7162116

Dai, Gao ; Li, Hongyan ; Lyu, Jianting et al. / Distributed attitude synchronization for multiple rigid bodies subject to input saturation. Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1284-1288 (Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015).

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title = "Distributed attitude synchronization for multiple rigid bodies subject to input saturation",

abstract = "Attitude synchronization problem for multiple rigid bodies subject to input saturation is studied in this paper. By introducing a bounded function, a distributed attitude control algorithm is designed for multiple rigid bodies in the presence of input saturation under a directed topology. With Lyapunov theory and algebraic graph theory, rigorous proof of global asymptotical stability of closed-loop system is given. Then, based on finite-time control technology, a distributed attitude control algorithm for multiple rigid bodies is proposed to guarantee global finite-time stability of closed-loop system, and which satisfies the requirement of input saturation. At the end, numerical simulations are given and the results verify the feasibility and effectiveness of the proposed control algorithm.",

keywords = "attitude synchronization, distributed control, input saturation, multiple rigid bodies",

author = "Gao Dai and Hongyan Li and Jianting Lyu and Liyong Luo",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 27th Chinese Control and Decision Conference, CCDC 2015 ; Conference date: 23-05-2015 Through 25-05-2015",

year = "2015",

month = jul,

day = "17",

doi = "10.1109/CCDC.2015.7162116",

language = "英语",

series = "Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1284--1288",

booktitle = "Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015",

address = "美国",

}

Dai, G, Li, H, Lyu, J & Luo, L 2015, Distributed attitude synchronization for multiple rigid bodies subject to input saturation. in Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015., 7162116, Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015, Institute of Electrical and Electronics Engineers Inc., pp. 1284-1288, 27th Chinese Control and Decision Conference, CCDC 2015, Qingdao, China, 23/05/15. https://doi.org/10.1109/CCDC.2015.7162116

Distributed attitude synchronization for multiple rigid bodies subject to input saturation. / Dai, Gao; Li, Hongyan; Lyu, Jianting et al.
Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1284-1288 7162116 (Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Distributed attitude synchronization for multiple rigid bodies subject to input saturation

AU - Dai, Gao

AU - Li, Hongyan

AU - Lyu, Jianting

AU - Luo, Liyong

PY - 2015/7/17

Y1 - 2015/7/17

N2 - Attitude synchronization problem for multiple rigid bodies subject to input saturation is studied in this paper. By introducing a bounded function, a distributed attitude control algorithm is designed for multiple rigid bodies in the presence of input saturation under a directed topology. With Lyapunov theory and algebraic graph theory, rigorous proof of global asymptotical stability of closed-loop system is given. Then, based on finite-time control technology, a distributed attitude control algorithm for multiple rigid bodies is proposed to guarantee global finite-time stability of closed-loop system, and which satisfies the requirement of input saturation. At the end, numerical simulations are given and the results verify the feasibility and effectiveness of the proposed control algorithm.

AB - Attitude synchronization problem for multiple rigid bodies subject to input saturation is studied in this paper. By introducing a bounded function, a distributed attitude control algorithm is designed for multiple rigid bodies in the presence of input saturation under a directed topology. With Lyapunov theory and algebraic graph theory, rigorous proof of global asymptotical stability of closed-loop system is given. Then, based on finite-time control technology, a distributed attitude control algorithm for multiple rigid bodies is proposed to guarantee global finite-time stability of closed-loop system, and which satisfies the requirement of input saturation. At the end, numerical simulations are given and the results verify the feasibility and effectiveness of the proposed control algorithm.

KW - attitude synchronization

KW - distributed control

KW - input saturation

KW - multiple rigid bodies

UR - https://www.scopus.com/pages/publications/84945582217

U2 - 10.1109/CCDC.2015.7162116

DO - 10.1109/CCDC.2015.7162116

M3 - 会议稿件

AN - SCOPUS:84945582217

T3 - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015

SP - 1284

EP - 1288

BT - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 27th Chinese Control and Decision Conference, CCDC 2015

Y2 - 23 May 2015 through 25 May 2015

ER -

Dai G, Li H, Lyu J, Luo L. Distributed attitude synchronization for multiple rigid bodies subject to input saturation. In Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1284-1288. 7162116. (Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015). doi: 10.1109/CCDC.2015.7162116

Distributed attitude synchronization for multiple rigid bodies subject to input saturation

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Keywords

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