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Distributed Consensus for Multiple Rigid-Bodies Based on Unit Dual Quaternion∗∗This work was supported by the National Science Foundation under grant 61375072 and Nature Science Foundation of Zhejiang Province under grant LQ13F030014
- Source :
- IFAC-PapersOnLine. 48:616-621
- Publication Year :
- 2015
- Publisher :
- Elsevier BV, 2015.
-
Abstract
- This paper addresses the distributed consensus problem for multiple rigid-bodies under directed communication topology having a spanning tree with the tool of unit dual quaternion. The dynamics of rigid-bodies in 3-D are represented by unit dual quaternion with notion concision and nonsingularity. A distritbuted consensus algorithm is proposed to control attitudes and positions of all rigidbodies to the same values. We also expand the leaderless distributed algorithm to tracking consensus case with a static leader. Finally, the proposed control algorithms are simulated to illustrate the theoretical results.
Details
- ISSN :
- 24058963
- Volume :
- 48
- Database :
- OpenAIRE
- Journal :
- IFAC-PapersOnLine
- Accession number :
- edsair.doi...........6f119be0acc06537170bca7a1d2c1dad