Back to Search
Start Over
Distributed attitude and translation consensus for networked rigid bodies based on unit dual quaternion
- Source :
- International Journal of Robust and Nonlinear Control. 27:3971-3989
- Publication Year :
- 2017
- Publisher :
- Wiley, 2017.
-
Abstract
- Summary This paper provides unified solutions for distributed attitude and translation consensus problems for networked fully actuated rigid bodies under the fixed and undirected communication topology with the tool of unit dual quaternion. We investigate two kinds of consensus, that is, leaderless consensus and leader-following consensus with a static leader. Firstly, the dynamics of rigid bodies are presented by unit dual quaternion. The control inputs of rigid bodies are also obtained from unit dual quaternion. Secondly, we propose a distributed consensus law in the form of dual quaternion to guarantee that the attitudes and translations of all rigid bodies reach consensus, respectively, without a leader. Thirdly, the leader-following consensus problem with a static leader is studied. With the proposed leader-following consensus law, the states of all rigid bodies converge to the corresponding states of the static leader, including the attitude and the translation. Finally, numerical examples are provided to validate the effectiveness of the theoretical results. Copyright © 2017 John Wiley & Sons, Ltd.
- Subjects :
- 0209 industrial biotechnology
Mechanical Engineering
General Chemical Engineering
020208 electrical & electronic engineering
Biomedical Engineering
Aerospace Engineering
02 engineering and technology
Translation (geometry)
Topology
Industrial and Manufacturing Engineering
020901 industrial engineering & automation
Consensus
Control and Systems Engineering
Control theory
0202 electrical engineering, electronic engineering, information engineering
Electrical and Electronic Engineering
Dual quaternion
Unit (ring theory)
Mathematics
Subjects
Details
- ISSN :
- 10991239 and 10498923
- Volume :
- 27
- Database :
- OpenAIRE
- Journal :
- International Journal of Robust and Nonlinear Control
- Accession number :
- edsair.doi...........7313924748f157dd1bdeefdbf328f64e