| 通信时延和联合连通拓扑下多刚体系统分布式姿态一致性控制 |
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| 引用本文： | 马龙,王仕成,闵海波,郭扬.通信时延和联合连通拓扑下多刚体系统分布式姿态一致性控制[J].控制理论与应用,2016,33(9):1162-1170. |
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| 作者姓名： | 马龙 王仕成 闵海波 郭扬 |
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| 作者单位： | 96630部队,火箭军工程大学控制工程系,火箭军工程大学控制工程系,火箭军工程大学控制工程系 |
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| 基金项目： | Supported by National Natural Science Foundation of China (61203354, 61034239). |
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| 摘 要： | 本文研究了通信时延和联合连通切换拓扑条件下的多刚体系统分布式姿态一致性控制问题. 通过构建有
效的辅助向量并选择合适的Lyapunov-Krasovskii函数, 分别对恒定通信时延和时变通信时延两种不同情况下的控
制器进行了设计. 数值仿真结果表明, 本文提出的方法能够有效地解决这类分布式姿态一致性控制问题.
多刚体; 姿态一致性; 联合连通拓扑; 时变时延; Lyapunov函数
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| 关 键 词： | 多刚体 姿态一致性 联合连通拓扑 时变时延 Lyapunov函数 |
| 收稿时间： | 2014/11/4 0:00:00 |
Distributed attitude consensus for multiple rigid body systems withcommunication delay and jointly connected topologies |
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| MA Long,WANG Shi-cheng,MIN Hai-bo and GUO Yang.Distributed attitude consensus for multiple rigid body systems withcommunication delay and jointly connected topologies[J].Control Theory & Applications,2016,33(9):1162-1170. |
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| Authors: | MA Long WANG Shi-cheng MIN Hai-bo and GUO Yang |
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| Affiliation: | No. 96630 Unit of PLA,Department of Control Engineering, The Rockets Army Engineering University,Department of Control Engineering, The Rockets Army Engineering University and Department of Control Engineering, The Rockets Army Engineering University |
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| Abstract: | In this paper, we study the distributed attitude consensus problem for multiple networked rigid body systems
in the case of communication time-delays together with jointly connected switching topologies. By constructing useful auxiliary
vectors and choosing proper common Lyapunov-Krasovskii functions, we design two control laws for two different
cases respectively, i.e., the case with constant communication time-delays, and the case with time varying communication
time-delays. Numerical simulation shows that the proposed algorithms are effective to this kind of distributed attitude
consensus problem. |
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| Keywords: | multiple rigid bodies attitude consensus jointly connected topologies time-varying delay Lyapunovfunction |
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