NDLI: Robust adaptive attitude synchronisation of rigid body networks on SO(3)

Content Provider	IET Digital Library
Author	Fadakar, Iman Fidan, Barış Huissoon, Jan
Abstract	In this study, the authors consider the robust adaptive attitude synchronisation problem for a network of rigid body agents using a modified version of the error function, which is recently introduced for constructing the attitude errors on SO(3). These attitude error vectors are particularly useful for networks with large initial attitude difference. They focus on devising an adaptive geometric approach to cope with situations where the inertia matrices are not available for measurement. The Frobenious norm is used as a measure for the difference between the actual values of moments of inertias and their estimated values, to construct the individual adaptive laws of agents. Compared to the previous methods for synchronisation on SO(3) such as those using quaternions, the authors' approach based on the introduced modified error function enables us to avoid any ambiguity for attitude representation. Finally, they study the robustness of the synchronisation task in the presence of external disturbances and unmodelled dynamics and propose a method to attenuate such effects. Simulation results illustrate the effectiveness of the proposed approach.
Starting Page	52
Ending Page	61
Page Count	10
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 1, Jan (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/1
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2013.0747
Journal	IET Control Theory & Applications
Publisher Date	2014-09-24
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Adaptive Geometric Approach Adaptive Law of Agents Aerospace Control Attitude Control Attitude Error Vector Attitude Representation Error Function External Disturbances Frobenious Norm Inertia Matrix Initial Attitude Difference Moments of Inertias Quaternions Rigid Body Agent Rigid Body Network Robust Adaptive Attitude Synchronisation Problem Robust Control Self Adjusting Control System Spatial Variables Control Stability in Control Theory Synchronisation Synchronisation Task Unmodelled Dynamics
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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