Attitude Synchronization of Multiple Rigid Bodies With Communication Delays

We consider the attitude synchronization problem of multiple rigid bodies (or spacecraft) in the presence of communication delays. Specifically, we propose a virtual systems-based approach that removes the requirement of the angular velocity measurements. First, we present a solution to the leaderle...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2012-09, Vol.57 (9), p.2405-2411
Main Authors: Abdessameud, A., Tayebi, A., Polushin, I. G.
Format: Article
Language:English
Subjects:
Adaptative systems
Angular velocity
Applied sciences
Attitude synchronization
Automatic control
communication delays
Computer science
control theory
systems
Computer systems and distributed systems. User interface
Control theory. Systems
Delay
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Interconnection
Measurements common to several branches of physics and astronomy
Metrology, measurements and laboratory procedures
output feedback
Physics
Rigid-body dynamics
Software
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Space vehicles
Spacecraft
Synchronism
Synchronization
Topology
Torque
Vectors
Velocity, acceleration and rotation
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Summary:We consider the attitude synchronization problem of multiple rigid bodies (or spacecraft) in the presence of communication delays. Specifically, we propose a virtual systems-based approach that removes the requirement of the angular velocity measurements. First, we present a solution to the leaderless and leader-follower problems in the case of time-varying communication delays and undirected communication topology. Second, we present an attitude synchronization scheme that solves the leaderless problem under directed interconnection between rigid bodies in the presence of constant communication delays. Finally, we show that the proposed schemes can be extended in a straightforward manner to solve the cooperative attitude tracking control problem.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2012.2188428