Finite-Time Attitude Synchronization With Distributed Discontinuous Protocols

The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and loc...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 63; no. 10; pp. 3608 - 3615
Main Authors Wei, Jieqiang, Zhang, Silun, Adaldo, Antonio, Thunberg, Johan, Hu, Xiaoming, Johansson, Karl H.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.10.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Aerospace electronics
Agents and autonomous systems
Asymptotic stability
Attitude control
Attitudes
Convergence
finite-time attitude synchronization
network analysis and control
nonlinear systems
Protocols
Rigid structures
Rotating bodies
Symmetric matrices
Synchronism
Synchronization
Time synchronization
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Summary:The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and nonsmooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.
ISSN:0018-9286
1558-2523
1558-2523
DOI:10.1109/TAC.2018.2797179