基于向量测量的无速度姿态同步

中文摘要 AI 辅助

本文研究了在无向通信图拓扑下，具有惯性向量测量的刚体系统网络的无速度无领导者和领导者-跟随者分布式姿态同步问题。在无领导者情形下，所有智能体就一个共同的恒定姿态达成一致。在领导者-跟随者情形下，所有智能体与仅一个智能体可获得的指定恒定姿态同步。所提出的方案既不需要姿态重构，也不需要角速度，避免了退绕问题，并实现了期望同步集的几乎全局渐近稳定性。数值仿真验证了其有效性。

英文摘要

This paper addresses the velocity-free leaderless and leader--follower distributed attitude synchronization of a network of rigid body systems, with inertial vector measurements, under an undirected communication graph topology. In the leaderless case all agents achieve consensus on a common constant orientation. In the leader--follower case, all agents synchronize with a prescribed constant orientation available to only one agent. The proposed schemes require neither attitude reconstruction nor angular-velocity, avoid unwinding, and achieve almost-global asymptotic stability of the desired synchronization sets. Numerical simulations illustrate their effectiveness.

发表机构

• Lakehead University（湖首大学）

机构由 AI 辅助整理，请以论文原文为准。