Autonomous rigid body attitude synchronization

By Alain Sarlette, Rodolphe Sepulchre, Naomi Ehrich Leonard. 2007

365 citations recorded by the source corpus.

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 the 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.

Subfields: Computer Networks and Communications, Mechanical Engineering, Ocean Engineering

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In Computer Networks and Communications

In Mechanical Engineering

In Ocean Engineering

Citations in the corpus

An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination (2012, methodology): “The main techniques used in their stability analysis include dissip ativity theory [54], nonsmooth analysis [ 89], [92], [93], and especially Lyapunov functions [ 59], [65], [67], [68], [92], [94].”
Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics (2013, background): “On the other hand, the existing leader-follower formation control algorithms rely on the velocity information of the leader [2], [20].”
Distributed Event-Triggered Control for Multi-Agent Systems (2012, background): “Several results concerning multi-agent cooperative control have appeared in the recent literature involving agreement or consensus algorithms [20], [12],[23], formation control [5], [4], [8], [2] and distributed estimation [21],[25].”
Synchronization of Networks of Nonidentical Euler-Lagrange Systems With Uncertain Parameters and Communication Delays (2011, background): “If this is not the case we have to deal with systems living on nonlinear manifolds as done, for instance, in [10], [32], [33].”
Event-triggered control for multi-agent systems (2009, background): “Several results concerning multi-agent cooperative control have appeared in recent literature involving agreement or consensus algorithms [17], [11],[20], formation control [5], [4], [7], [2] and distributed estimation [18],[23].”
Region-based shape control for a swarm of robots (2009, background): “To alleviate this problem, several approaches are proposed to allow some flexibility on the positions of the followers with respect to the leaders (Consolini et al., 2008; Dimarogonas et al., 2006; Ji et al., 2008).”
Decentralized Consensus Control of a Rigid-Body Spacecraft Formation with Communication Delay (2016, background): “When the motion of the set of spacecraft is not committed to be in a predefined format relative to the inertial frame or, more generally, relative to a reference (which is the case in the centralized formation), more fuel efficiency may be achieved [14,31].”
Robust consensus tracking of a class of second-order multi-agent dynamic systems (2010, neutral): “, [10]–[12]), vehicle formation control (e.”
Neural-Network-Based Adaptive Leader-Following Control for Multiagent Systems With Uncertainties (2010, background): “As an effective consensus seeking approach, the leader-following strategy has attracted considerable attention from the control community [2], [5], [9]–[11], [13], [15], [17].”
Consensus in multi-agent systems: a review (2021, background): “The performance of consensus networks with just one leader agent is always improved by adding extra leaders (Consolini et al. 2008).”
Distributed finite-time attitude containment control for multiple rigid bodies (2010, neutral): “In Sarlettea, Sepulchrea, and Leonard (2009), the authors considered a general undirected connected communication topology while sacrificing to get only a locally asymptotical synchronization result.”
Synchronization in networks of identical linear systems (2008, background): “Designing interconnection control laws that can ensure synchronization of relevant variables is therefore a control problem that has attracted quite some attention in the recent years [10], [11], [12], [13], [14], [15].”