Leader-Following Consensus of Multiple Rigid Body Systems by Bounded Attitude Feedback

IF 4 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control of Network Systems Pub Date : 2025-03-07 DOI:10.1109/TCNS.2025.3549094

Changran He;Kwok Wai Samuel Au

引用次数: 0

Abstract

In this article, we study the leader-following attitude consensus problem of multiple rigid body systems by bounded distributed attitude feedback control. The desired reference attitude and the desired reference angular velocity are assumed to be generated by a leader system. To estimate the reference attitude and the reference angular velocity, we establish a nonlinear distributed observer for the leader system that generates a priori bounded estimates of the system matrix, the output matrix, and the state variables of the leader system. We further synthesize a bounded distributed attitude feedback control law to solve the leader-following consensus problem over a jointly connected switching network based on the distributed observer. A numerical example is provided to demonstrate the effectiveness of our approach.

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基于有界姿态反馈的多刚体系统的领导-跟随共识

本文研究了基于有界分布姿态反馈控制的多刚体系统的领导-跟随姿态一致性问题。期望的参考姿态和期望的参考角速度假定是由前导系统产生的。为了估计参考姿态和参考角速度，我们建立了一个非线性分布式观测器，该观测器生成了系统矩阵、输出矩阵和先导系统状态变量的先验有界估计。在此基础上，我们进一步合成了一个有界分布式姿态反馈控制律来解决基于分布式观测器的联合连接交换网络上的leader- follower共识问题。通过数值算例验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Control of Network Systems Mathematics-Control and Optimization

CiteScore

7.80

自引率

7.10%

发文量

169

期刊介绍： The IEEE Transactions on Control of Network Systems is committed to the timely publication of high-impact papers at the intersection of control systems and network science. In particular, the journal addresses research on the analysis, design and implementation of networked control systems, as well as control over networks. Relevant work includes the full spectrum from basic research on control systems to the design of engineering solutions for automatic control of, and over, networks. The topics covered by this journal include: Coordinated control and estimation over networks, Control and computation over sensor networks, Control under communication constraints, Control and performance analysis issues that arise in the dynamics of networks used in application areas such as communications, computers, transportation, manufacturing, Web ranking and aggregation, social networks, biology, power systems, economics, Synchronization of activities across a controlled network, Stability analysis of controlled networks, Analysis of networks as hybrid dynamical systems.