TY - GEN
T1 - Rigid body attitude synchronization with communication delays
AU - Abdessameud, Abdelkader
AU - Tayebi, Abdelhamid
AU - Polushin, Ilia G.
PY - 2012
Y1 - 2012
N2 - The paper addresses the cooperative attitude synchronization problem of multiple rigid bodies in the presence of communication delays and without 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. Next, we present an attitude synchronization scheme for the leaderless problem, under a directed graph topology, in the presence of constant communication delays. To demonstrate the effectiveness of the proposed control schemes, simulation results of a scenario of four rigid bodies are provided.
AB - The paper addresses the cooperative attitude synchronization problem of multiple rigid bodies in the presence of communication delays and without 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. Next, we present an attitude synchronization scheme for the leaderless problem, under a directed graph topology, in the presence of constant communication delays. To demonstrate the effectiveness of the proposed control schemes, simulation results of a scenario of four rigid bodies are provided.
UR - http://www.scopus.com/inward/record.url?scp=84869443159&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84869443159&partnerID=8YFLogxK
U2 - 10.1109/acc.2012.6315124
DO - 10.1109/acc.2012.6315124
M3 - Conference contribution
AN - SCOPUS:84869443159
SN - 9781457710957
T3 - Proceedings of the American Control Conference
SP - 3736
EP - 3741
BT - 2012 American Control Conference, ACC 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 American Control Conference, ACC 2012
Y2 - 27 June 2012 through 29 June 2012
ER -