带有向图的多刚体系统姿态最优一致性控制

2023 IEEE 6th International Conference on Industrial Cyber-Physical Systems (ICPS) Pub Date : 2023-05-08 DOI:10.1109/ICPS58381.2023.10128022

Zhuo Zhang, Rongxin Cui, Shouxu Zhang, Huiping Li, Weisheng Yan

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引用次数: 0

摘要

研究了多刚体系统的最优姿态一致控制问题。提出了一种保证姿态无领导一致和全局性能指标优化的分布式控制协议。提出的协议允许拓扑图只包含有向生成树，并且删除了许多现有工作中采用的假设。最后通过数值算例说明了理论工作的有效性。

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Optimal Attitude Consensus Control of Multiple Rigid-Body Systems with Digraphs

This article studies the optimal attitude consensus control for multiple rigid-body systems. A distributed control protocol that guarantees the leaderless consensus of attitude and optimization of global performance index is presented. The presented protocol allows the topology graph to only contain a directed spanning tree, and the assumptions adopted in many existing works are removed. A numerical example is finally reported to illustrate the effectiveness of theoretical work.

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来源期刊

2023 IEEE 6th International Conference on Industrial Cyber-Physical Systems (ICPS)

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