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Global asymptotic stabilization of spherical orientation by synergistic hybrid feedback with application to reduced attitude synchronization
P. Casau; C. Silvestre
2019-01-21
Conference NameIEEE Conference on Decision and Control
Source PublicationProceedings of the IEEE Conference on Decision and Control
Volume2018-December
Pages1536-1541
Conference Date17-19 Dec. 2018
Conference PlaceMiami, 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.

DOI10.1109/CDC.2018.8619650
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000458114801072
Scopus ID2-s2.0-85062193175
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Citation statistics
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Corresponding AuthorP. Casau
AffiliationDepartment of Electrical and Computer Engineering, University of Macau, Macau, China
First Author AffilicationUniversity of Macau
Corresponding Author AffilicationUniversity 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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