设为首页|加为收藏|English

学术报告
来源:  时间:2016-09-05   《打印》
Intrinsic Formations of Reduced Attitudes
Speaker:Xiaoming Hu(KTH Royal Institute of Technology)

Time and Venue: Sep 6th, 15:00

 Abstract: In this talk, formation control for reduced attitudes is studied, in which both stationary and rotating ring and Platonic solids formations can be achieved and are asymptotically stable under a large family of gain functions in the control. Moreover, by further restriction on the control gain, almost global stability of some of the stationary formations is obtained. In addition, the control proposed is an intrinsic protocol that only uses relative information and does not need to contain any information of the desired formation beforehand. The constructed formation pattern is totally attributed to the geometric properties of the space and the designed inter-agent connection topology. Besides, a novel coordinates transformation is proposed to represent the relative reduced attitudes on the unit sphere , which is shown to be an efficient approach to reduced attitude formation problems.
附件
相关文档