Adaptive Leader-Following Attitude Consensus of Rigid Body Systems Over Switching Networks by a Fully Distributed Switching Control Law

Tao Liu1, Jie Huang2

  • 1Chinese University of Hong Kong
  • 2The Chinese University of Hong Kong

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Regular Session

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10:00 - 12:00 | Mon 17 Dec | Splash 3-4 | MoA14

Cooperative Control I

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Abstract

The leader-following attitude consensus problem of multiple rigid body systems over switching networks was solved by the distributed observer approach. The resulting control law requires that the control of every rigid body system know the dynamics of the exosystem that produces the desired angular velocity. In this paper, we further consider solving the same problem by the adaptive distributed observer approach. The latter approach is able to provide for each rigid body system the estimation of the dynamics of the exosystem, thus leading to a fully distributed control law for solving the leader-following attitude consensus problem of multiple rigid body systems.

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