刚体系统在SO(3)上的领导者-跟随者姿态同步
Leader-follower Attitude Synchronization of Rigid-body Systems on SO(3)
- School of Mathematics, Shandong University（山东大学数学学院）
- Department of Electrical Engineering, Lakehead University（湖首大学电气工程系）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文针对SO(3)上异构刚体系统的领导者-跟随者姿态同步问题，提出基于观测器的分布式控制策略，实现时变及常数参考姿态的几乎全局渐近稳定同步，并通过仿真验证有效性。
AI中文摘要：
本文研究了由异构刚体系统组成的群体在SO(3)上的领导者-跟随者姿态同步问题。参考姿态由虚拟领导者表示，网络中只有部分智能体能够访问该参考姿态。假设跟随者通信图是无向且无环的，并且每个智能体通过相应增广图（包含虚拟领导者）中的路径与虚拟领导者相连。本文提出了一种基于观测器的分布式控制策略，该策略具有几乎全局渐近稳定性保证，用于将所有刚体姿态同步到期望的时变参考姿态。针对常数参考情况，还开发了一种复杂度降低的基于观测器的分布式控制策略，以及一种无观测器的分布式控制策略，两者均具有几乎全局渐近稳定性保证。数值仿真验证了所提出的分布式控制策略的有效性和性能。
英文摘要：
This paper addresses the leader-follower attitude synchronization problem on $\mathrm{SO}(3)$ for a group of heterogeneous rigid body systems. The reference attitude, represented by a virtual leader, is accessible only to a subset of agents in the network. The follower communication graph is assumed to be undirected and acyclic, and every agent is connected to the virtual leader through a path in the corresponding augmented graph (including the virtual leader). An observer-based distributed control strategy, endowed with almost global asymptotic stability guarantees, is proposed to synchronize all rigid-body attitudes with a desired time-varying reference attitude. An observer-based distributed control, with reduced complexity, as well an observerless distributed control strategy are also developed for the constant-reference case, with almost global asymptotic stability guarantees. Numerical simulations are presented to demonstrate the effectiveness and performance of the proposed distributed control strategies.
