Leader-follower cooperative attitude control of multiple rigid bodies

Dimarogonas, DV; Tsiotras, P; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Tsiotras, P	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:30:59Z
dc.date.available	2014-03-01T01:30:59Z
dc.date.issued	2009	en
dc.identifier.issn	0167-6911	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/19706
dc.subject	Autonomous systems	en
dc.subject	Decentralized control	en
dc.subject	Spacecraft control	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Operations Research & Management Science	en
dc.subject.other	Autonomous systems	en
dc.subject.other	Co-ordinated controls	en
dc.subject.other	Communication graphs	en
dc.subject.other	Control laws	en
dc.subject.other	Control objectives	en
dc.subject.other	Feedback control laws	en
dc.subject.other	Heterogeneous agents	en
dc.subject.other	Laplacian matrices	en
dc.subject.other	Leader followers	en
dc.subject.other	Limited communications	en
dc.subject.other	Limited informations	en
dc.subject.other	Relative orientations	en
dc.subject.other	Relaxed controls	en
dc.subject.other	Rigid bodies	en
dc.subject.other	Rotating rigid bodies	en
dc.subject.other	Spacecraft control	en
dc.subject.other	Team members	en
dc.subject.other	Bodies of revolution	en
dc.subject.other	Spacecraft	en
dc.subject.other	Decentralized control	en
dc.title	Leader-follower cooperative attitude control of multiple rigid bodies	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/j.sysconle.2009.02.002	en
heal.identifier.secondary	http://dx.doi.org/10.1016/j.sysconle.2009.02.002	en
heal.language	English	en
heal.publicationDate	2009	en
heal.abstract	In this paper we extend our previous results on coordinated control of rotating rigid bodies to the case of teams with heterogeneous agents. We assume that only a certain subgroup of the agents (the leaders) is vested with the main control objective, that is, maintain constant relative orientation amongst themselves. The other members of the team must meet relaxed control specifications, namely, maintain their respective orientations within certain bounds, dictated by the orientation of the leaders. The proposed control laws respect the limited information each rigid body has with respect to the rest of its peers (leaders or followers), as well as with the rest of the team. Each rigid body is equipped with a feedback control law that utilizes the Laplacian matrix of the associated communication graph, and which encodes the limited communication capabilities between the team members. Similarly to the single integrator case, the convergence of the system relies on the connectivity of the communication graph. (C) 2009 Elsevier B.V. All rights reserved.	en
heal.publisher	ELSEVIER SCIENCE BV	en
heal.journalName	Systems and Control Letters	en
dc.identifier.doi	10.1016/j.sysconle.2009.02.002	en
dc.identifier.isi	ISI:000266284700007	en
dc.identifier.volume	58	en
dc.identifier.issue	6	en
dc.identifier.spage	429	en
dc.identifier.epage	435	en