Autonomous rigid body attitude synchronization

Abstract

Abstract-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.

Synchronization of diffusively coupled systems on compact Riemannian manifolds in the presence of drift

“…Scardovi et al have studied synchronizing systems on tori [1] and Sarlette et al have focused on synchronizing systems on the orthogonal group [2]. A quite general study of synchronization on manifolds has been conducted by Sarlette and Sepulchre [3].…”

“…Lately, significant effort has been dedicated to the study of synchronizing systems that live on manifolds [1][2][3][4][5]. Scardovi et al have studied synchronizing systems on tori [1] and Sarlette et al have focused on synchronizing systems on the orthogonal group [2].…”

Robust consensus of multi-agent systems with time-varying delays in noisy environment

“…The origin of consensus can trace back to a Latin word meaning literally to feel together from Wikipedia [27][28][29][30]. In 1995, Vicsek et al introduced the famous Vicsek model to describe the collective behaviors of MAS via alignment, where the headings of all agents will synchronize under the condition of high population density and low noise amplitude [1].…”

Configuration Consensus of Two Underactuated Planar Rigid Bodies

“…In the last decade, the number of researches about multi body synchronization has increased, e.g., [18]- [24]. The authors of Refs.…”

“…The authors of Refs. [18]- [21], [24] have been successful in solving some synchronization problem for multiple fully-actuated spacecraft. Furthermore, the authors of Refs.…”