Intrinsic tetrahedron formation of reduced attitude. (January 2018)

• Record Type: Journal Article
• Authors: Zhang, Silun; Song, Wenjun; He, Fenghua; Hong, Yiguang; Hu, Xiaoming
• Is Part Of: Automatica. Volume 87(2018)
• Page Start: 375
• Page End: 382
• Publication Date: 2018-01
• Subjects: Attitude control -- Distributed control -- Formation control -- Nonlinear systems; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2017.10.023
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: In this paper, formation control for reduced attitude is studied, in which a regular tetrahedron formation can be achieved and shown to be asymptotically stable under a large family of gain functions in the control. Moreover, by further restriction on the control gain, almost global stability of the desired formation is obtained. In addition, the control proposed is an intrinsic protocol that only uses relative information and does not need to contain any information of the desired formation beforehand. The constructed formation pattern is totally attributed to the geometric properties of the space and the designed inter-agent connection topology. Besides, a novel coordinates transformation is proposed to represent the relative reduced attitudes in S 2, which is shown to be an efficient approach to reduced attitude formation problems.