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Laplacian cooperative attitude control of multiple rigid bodies

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dc.contributor.author Dimarogonas, DV en
dc.contributor.author Tsiotras, P en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T02:44:05Z
dc.date.available 2014-03-01T02:44:05Z
dc.date.issued 2006 en
dc.identifier.uri http://hdl.handle.net/123456789/31664
dc.subject Attitude Control en
dc.subject Control Strategy en
dc.subject Cooperative Control en
dc.subject Laplacian Matrix en
dc.subject Rigid Body en
dc.subject Multi Agent System en
dc.subject.other Graph theoretic tools en
dc.subject.other Laplacian cooperative attitude control en
dc.subject.other Laplacian matrix en
dc.subject.other Angular velocity en
dc.subject.other Convergence of numerical methods en
dc.subject.other Graph theory en
dc.subject.other Laplace equation en
dc.subject.other Linear control systems en
dc.subject.other Multi agent systems en
dc.subject.other Attitude control en
dc.title Laplacian cooperative attitude control of multiple rigid bodies en
heal.type conferenceItem en
heal.identifier.primary 10.1109/ISIC.2006.285559 en
heal.identifier.secondary http://dx.doi.org/10.1109/ISIC.2006.285559 en
heal.identifier.secondary 4064996 en
heal.publicationDate 2006 en
heal.abstract Motivated by the fact that linear controllers can stabilize the rotational motion of a rigid body, we propose in this paper a control strategy that exploits graph theoretic tools for cooperative control of multiple rigid bodies. The control objective is to stabilize the system to a configuration where the rigid bodies will have a common orientation and common angular velocity. The control law respects the limited information each rigid body has with respect to the rest of the team. Specifically, each rigid body is equipped with a control law that is based on the Laplacian matrix of the communication graph, which encodes the limited communication capabilities between the team members. Similarly to the linear case, the convergence of the multi-agent system relies on the connectivity of the communication graph. © 2006 IEEE. en
heal.journalName IEEE International Symposium on Intelligent Control - Proceedings en
dc.identifier.doi 10.1109/ISIC.2006.285559 en
dc.identifier.spage 3064 en
dc.identifier.epage 3069 en


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