TY - GEN
T1 - Laplacian cooperative attitude control of multiple rigid bodies
AU - Dimarogonas, Dimos V.
AU - Tsiotras, Panagiotis
AU - Kyriakopoulos, Kostas J.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=39549098210&partnerID=8YFLogxK
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U2 - 10.1109/ISIC.2006.285559
DO - 10.1109/ISIC.2006.285559
M3 - Conference contribution
AN - SCOPUS:39549098210
SN - 0780397983
SN - 9780780397989
T3 - IEEE International Symposium on Intelligent Control - Proceedings
SP - 3064
EP - 3069
BT - Proceedings of the 2006 IEEE International Symposium on Intelligent Control, ISIC
T2 - Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
Y2 - 4 October 2006 through 6 October 2006
ER -