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	2014-03-01T02:45:32Z
dc.date.available	2014-03-01T02:45:32Z
dc.date.issued	2008	en
dc.identifier.issn	07431619	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32300
dc.subject	Attitude Control	en
dc.subject	Coordinated Control	en
dc.subject	Heterogeneous Agents	en
dc.subject	Laplacian Matrix	en
dc.subject	Relative Orientation	en
dc.subject	Rigid Body	en
dc.subject	Multi Agent System	en
dc.subject.other	Bodies of revolution	en
dc.subject.other	Graph theory	en
dc.subject.other	Specifications	en
dc.subject.other	Co-ordinated control	en
dc.subject.other	Communication graphs	en
dc.subject.other	Communication links	en
dc.subject.other	Control laws	en
dc.subject.other	Control objective	en
dc.subject.other	Laplacian matrices	en
dc.subject.other	Leader-follower	en
dc.subject.other	Limited information	en
dc.subject.other	Multi-Agent Systems	en
dc.subject.other	Relative orientation	en
dc.subject.other	Relaxed controls	en
dc.subject.other	Rigid bodies	en
dc.subject.other	Team members	en
dc.subject.other	Agents	en
dc.title	Leader-follower cooperative attitude control of multiple rigid bodies	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ACC.2008.4586591	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ACC.2008.4586591	en
heal.identifier.secondary	4586591	en
heal.publicationDate	2008	en
heal.abstract	In this paper we extend our previous results on coordinated control of rotating rigid bodies to the case of teams with heterogenous agents. We assume that only a certain subgroup of the agents (the leaders) are vested with the main control objective, that is, maintain constant relative orientation amongst themselves. The rest of the team must meet relaxed control specifications, namely maintain their respective orientations within certain limits 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 control law that utilizes the Laplacian matrix of the associated communication graph, which encodes the communication links between the team members. Similarly to the linear case, the convergence of the multi-agent system relies on the connectivity of the communication graph. ©2008 AACC.	en
heal.journalName	Proceedings of the American Control Conference	en
dc.identifier.doi	10.1109/ACC.2008.4586591	en
dc.identifier.spage	801	en
dc.identifier.epage	806	en