Distributed Consensus for Multiple Rigid-Bodies Based on Unit Dual Quaternion∗. Issue 11 (2015)

• Record Type: Journal Article
• Authors: Wang, Yinqiu; Lu, Renquan; Wang, Jianzhong; Xue, Anke
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 11(2015)
• Page Start: 616
• Page End: 621
• Publication Date: 2015
• Subjects: Unit dual quaternion -- distributed consensus -- nonlinear control -- rigid-body; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.09.255
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper addresses the distributed consensus problem for multiple rigid-bodies under directed communication topology having a spanning tree with the tool of unit dual quaternion. The dynamics of rigid-bodies in 3-D are represented by unit dual quaternion with notion concision and nonsingularity. A distritbuted consensus algorithm is proposed to control attitudes and positions of all rigidbodies to the same values. We also expand the leaderless distributed algorithm to tracking consensus case with a static leader. Finally, the proposed control algorithms are simulated to illustrate the theoretical results.