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Attitude Synchronization of a Group of Rigid Bodies Using Exponential Coordinates.
Sidón-Ayala, Miguel; Pliego-Jiménez, Javier; Cruz-Hernandez, César.
Affiliation
  • Sidón-Ayala M; Departamento de Electrónica y Telecomunicaciones, División de Física Aplicada, Centro de Investigación Científica y de Educación Superior de Ensenada, Carretera Ensenada-Tijuana 3918, Ensenada 22860, Mexico.
  • Pliego-Jiménez J; Departamento de Electrónica y Telecomunicaciones, División de Física Aplicada, Centro de Investigación Científica y de Educación Superior de Ensenada, Carretera Ensenada-Tijuana 3918, Ensenada 22860, Mexico.
  • Cruz-Hernandez C; Programa Investigadores por México, Consejo Nacional de Humanidades Ciencias y Tecnologías, Av. Insurgentes Sur 1582, Mexico City 03940, Mexico.
Entropy (Basel) ; 25(6)2023 May 23.
Article in En | MEDLINE | ID: mdl-37372176
Currently, managing a group of satellites or robot manipulators requires coordinating their motion and work in a cooperative way to complete complex tasks. The attitude motion coordination and synchronization problems are challenging since attitude motion evolves in non-Euclidean spaces. Moreover, the equation of motions of the rigid body are highly nonlinear. This paper studies the attitude synchronization problem of a group of fully actuated rigid bodies over a directed communication topology. To design the synchronization control law, we exploit the cascade structure of the rigid body's kinematic and dynamic models. First, we propose a kinematic control law that induces attitude synchronization. As a second step, an angular velocity-tracking control law is designed for the dynamic subsystem. We use the exponential coordinates of rotation to describe the body's attitude. Such coordinates are a natural and minimal parametrization of rotation matrices which almost describe every rotation on the Special Orthogonal group SO(3). We provide simulation results to show the performance of the proposed synchronization controller.
Key words

Full text: 1 Collection: 01-internacional Database: MEDLINE Language: En Journal: Entropy (Basel) Year: 2023 Document type: Article Affiliation country: Mexico Country of publication: Switzerland

Full text: 1 Collection: 01-internacional Database: MEDLINE Language: En Journal: Entropy (Basel) Year: 2023 Document type: Article Affiliation country: Mexico Country of publication: Switzerland