Residential College | false |
Status | 已發表Published |
Global asymptotic stabilization of spherical orientation by synergistic hybrid feedback with application to reduced attitude synchronization | |
P. Casau; C. Silvestre | |
2019-01-21 | |
Conference Name | IEEE Conference on Decision and Control |
Source Publication | Proceedings of the IEEE Conference on Decision and Control |
Volume | 2018-December |
Pages | 1536-1541 |
Conference Date | 17-19 Dec. 2018 |
Conference Place | Miami, FL, USA |
Abstract | In this paper, we develop a hybrid controller for global asymptotic stabilization on the n-dimensional sphere (mathbb S^ n) using synergistic potential functions. These consist of a collection of potential functions on mathbb S^ n that induce a gradient descent controller during flows of the hybrid closed-loop system and a switching law that, at undesired equilibrium points of the gradient vector field, jumps to the lowest value among all the potential functions in the collection. We show that the proposed controller can be used for global reduced attitude synchronization, i.e., given a network of rigid-bodies, the proposed synergistic hybrid feedback can be used to globally synchronize a reference direction of each agent within a global but unknown inertial reference frame. We study this application for a network of three vehicles by means of simulation results. |
DOI | 10.1109/CDC.2018.8619650 |
URL | View the original |
Indexed By | CPCI-S |
Language | 英語English |
WOS Research Area | Automation & Control Systems ; Engineering |
WOS Subject | Automation & Control Systems ; Engineering, Electrical & Electronic |
WOS ID | WOS:000458114801072 |
Scopus ID | 2-s2.0-85062193175 |
Fulltext Access | |
Citation statistics | |
Document Type | Conference paper |
Collection | DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING |
Corresponding Author | P. Casau |
Affiliation | Department of Electrical and Computer Engineering, University of Macau, Macau, China |
First Author Affilication | University of Macau |
Corresponding Author Affilication | University of Macau |
Recommended Citation GB/T 7714 | P. Casau,C. Silvestre. Global asymptotic stabilization of spherical orientation by synergistic hybrid feedback with application to reduced attitude synchronization[C], 2019, 1536-1541. |
APA | P. Casau., & C. Silvestre (2019). Global asymptotic stabilization of spherical orientation by synergistic hybrid feedback with application to reduced attitude synchronization. Proceedings of the IEEE Conference on Decision and Control, 2018-December, 1536-1541. |
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