Laplacian 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	2014-03-01T02:44:05Z
dc.date.available	2014-03-01T02:44:05Z
dc.date.issued	2006	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/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