Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition  被引量:1

Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition

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作  者:DENG Juan WANG Lin LIU Zhixin HU Xiaoming 

机构地区:[1]LSC, Academy of Mathematics and Systems Science, Chinese Academy of Science, Beijing 100190, China [2]School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing 100049, China [3]Department of Automation, Shanghai Jiaotong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai 200240, China [4]Optimization and Systems Theory, KTH Royal Institute of Technology, 10044 Stockholm, Sweden

出  处:《Journal of Systems Science & Complexity》2018年第1期215-233,共19页系统科学与复杂性学报(英文版)

基  金:supported by the National Natural Science Foundation of China under Grant Nos.61473189 and 61621003;the National Key Basic Research Program of China(973 program)under Grant No.2014CB845302

摘  要:This paper considers the pose synchronization problem of a group of moving rigid bodies under switching topologies where the dwell time of each topology may has no nonzero lower bound. The authors introduce an average dwell time condition to characterize the length of time intervals in which the graphs are connected. By designing distributed control laws of angular velocity and linear velocity,the closed-loop dynamics of multiple rigid bodies with switching topologies can be converted into a hybrid dynamical system. The authors employ the Lyapunov stability theorem, and show that the pose synchronization can be reached under the average dwell time condition. Moreover, the authors investigate the pose synchronization problem of the leader-following model under a similar average dwell time condition. Simulation examples are given to illustrate the results.

关 键 词:Average dwell time hybrid dynamical systems pose synchronization rigid body SE(3) 

分 类 号:TP273[自动化与计算机技术—检测技术与自动化装置]

 

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