方向错位下的共识
Consensus under Misaligned Orientations
摘要：
本文提出了一种方向不对准的一致性算法，这种方向不对准定义为：（i）局部坐标系与全局坐标系不对准，（ii）控制方向或感知方向有偏差，或（iii）虚拟全局坐标系不对准。在给出数学公式后，我们给出了一致性或发散性的一些充分条件。除了稳定性分析外，我们还根据特征值的位置对收敛特性进行了分析。通过大量的数值模拟，我们将试图了解失准共识动力学的行为。
英文摘要：
This paper presents a consensus algorithm under misaligned orientations, which is defined as (i) misalignment to global coordinate frame of local coordinate frames, (ii) biases in control direction or sensing direction, or (iii) misaligned virtual global coordinate frames. After providing a mathematical formulation, we provide some sufficient conditions for consensus or for divergence. Besides the stability analysis, we also conduct some analysis for convergence characteristics in terms of locations of eigenvalues. Through a number of numerical simulations, we would attempt to understand the behaviors of misaligned consensus dynamics.
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