Autonomous Rigid Body Attitude Synchronization
Alain Sarlette, Rodolphe Sepulchre and Naomi Ehrich Leonard
Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, December 2007.
This paper studies some extensions to the decentralized attitude synchronization of
identical rigid bodies. Considering fully actuated Euler equations, the communication links between
the rigid bodies are limited and available information is restricted to relative orientations
and angular velocities. In particular, no leader nor external reference dictates the swarm's
behavior: The control laws are derived using two classical approaches of nonlinear control -
tracking and energy shaping. This leads to a comparison of two corresponding methods
which are currently considered for distributed synchronization - consensus and stabilization of
mechanical systems with symmetries.
(180 KB pdf)
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