TY - JOUR
T1 - Attitude synchronization of multiple rigid bodies with communication delays
AU - Abdessameud, Abdelkader
AU - Tayebi, Abdelhamid
AU - Polushin, Ilia G.
N1 - Funding Information:
Manuscript received February 05, 2011; revised July 19, 2011; accepted January 25, 2012. Date of publication February 17, 2012; date of current version August 24, 2012. This work was supported by the Natural Sciences and Engineering Research Council of Canada (NSERC). Recommended by Associate Editor Y. Hong.
PY - 2012
Y1 - 2012
N2 - We consider the attitude synchronization problem of multiple rigid bodies (or spacecraft) in the presence of communication delays. Specifically, we propose a virtual systems-based approach that removes the requirement of the angular velocity measurements. First, we present a solution to the leaderless and leader-follower problems in the case of time-varying communication delays and undirected communication topology. Second, we present an attitude synchronization scheme that solves the leaderless problem under directed interconnection between rigid bodies in the presence of constant communication delays. Finally, we show that the proposed schemes can be extended in a straightforward manner to solve the cooperative attitude tracking control problem.
AB - We consider the attitude synchronization problem of multiple rigid bodies (or spacecraft) in the presence of communication delays. Specifically, we propose a virtual systems-based approach that removes the requirement of the angular velocity measurements. First, we present a solution to the leaderless and leader-follower problems in the case of time-varying communication delays and undirected communication topology. Second, we present an attitude synchronization scheme that solves the leaderless problem under directed interconnection between rigid bodies in the presence of constant communication delays. Finally, we show that the proposed schemes can be extended in a straightforward manner to solve the cooperative attitude tracking control problem.
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U2 - 10.1109/TAC.2012.2188428
DO - 10.1109/TAC.2012.2188428
M3 - Article
AN - SCOPUS:84865692479
SN - 0018-9286
VL - 57
SP - 2405
EP - 2411
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 9
M1 - 6155071
ER -