Rigid body attitude coordination without inertial frame information

Authors:
He Bai;Murat Arcak;John T. Wen
Affiliations:
Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA;Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA and Department of Electrical Engineering and Computer Sciences, University of Cali ...;Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA
Venue:
Automatica (Journal of IFAC)
Year:
2008

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Abstract

We study a motion coordination problem where the objective is to achieve identical orientation and synchronous rotation for a group of rigid bodies. Unlike existing designs which assume that the inertial frame is available to each agent, we develop a passivity-based design which relies only on relative attitude information with respect to neighboring agents. The desired equilibria, where all the rigid bodies possess the same attitude and rotate at a desired angular velocity, are shown to be locally asymptotically stable and a manifold of undesired equilibria may exist. We then consider the situation where the reference angular velocity is available only to the leader, and propose a distributed adaptive controller with which the other agents reconstruct this reference angular velocity.