有向拓扑下网络化刚体的全局姿态同步
Global Attitude Synchronization of Networked Rigid Bodies Under Directed Topologies
AI总结：
针对有向拓扑下网络化刚体的姿态同步易出现异步、传统分析受非线性耦合阻碍的问题，提出基于乘法四元数误差的同步协议与双能量函数分析方法，证明准强连通拓扑下可实现全局同步，并通过航天器仿真验证性能。
摘要：
本文研究了有向拓扑下网络化刚体的全局姿态同步问题。为避免仅向量部分收敛至某一相同值而标量部分不收敛的异步缺陷，本文利用乘法四元数误差，为具备绝对测量值的刚体设计了姿态同步协议。研究表明，当且仅当有向拓扑为准强连通时，网络化刚体可实现全局同步。同时，本文构建了一种新颖的双能量函数分析方法，该方法配备了关于标量部分的排序置换技术和坐标变换机制，用于网络化刚体的四元数行为分析。值得注意的是，尽管乘法四元数误差带来的高度非线性与强耦合问题严重阻碍了网络化刚体全局同步的传统分析，采用本文的分析方法仍可实现全局同步。本文还给出了网络化航天器的仿真结果，展示了不同有向拓扑下的全局同步性能。
英文摘要：
The global attitude synchronization problem is studied for networked rigid bodies under directed topologies. To avoid the asynchronous pitfall where only vector parts converge to some identical value but scalar parts do not, multiplicative quaternion errors are leveraged to develop attitude synchronization protocols for rigid bodies with the absolute measurements. It is shown that global synchronization of networked rigid bodies can be achieved if and only if the directed topology is quasi-strongly connected. Simultaneously, a novel double-energy-function analysis method, equipped with an ordering permutation technique about scalar parts and a coordinate transformation mechanism, is constructed for the quaternion behavior analysis of networked rigid bodies. In particular, global synchronization is achieved with our analysis method regardless of the highly nonlinear and strongly coupling problems resulting from multiplicative quaternion errors, which seriously hinder the traditional analysis of global synchronization for networked rigid bodies. Simulations for networked spacecraft are presented to show the global synchronization performances under different directed topologies.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
