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.