Output Feedback Control of Attitude Synchronization for Multiple Rigid Bodies
|School||University of Science and Technology of China|
|Course||Control Theory and Control Engineering|
|Keywords||rigid bodies attitude synchronization multi-agent consensus communication topology strict Lyapunov function indirect attitude information without angular velocity information|
This paper mainly discusses about Output Feedback Control of Attitude Synchronization for Multiple Rigid Bodies, i.e., Attitude Synchronization control with indirect attitude information or without angular velocity information.Firstly, we review the equations of motion of rigid body and general control law of attitude tracking, and construct a new Lyapunov function and its corresponding control law. Using the novel method, the time derivative of Lyapunov function will produce the negative term of square norm of the attitude tracking error, which makes the stability analysis become easy, and this novel method is very important to the attitude synchronization with indirect attitude information in Chapter 3. The communication topology, task type and general full state feedback control in the attitude synchronization are also introduced.Secondly, according to the separation property of the rigid body attitude tracking between attitude estimation and tracking control with indirect attitude information in the recent literature, the author proposes new problem on Multiple Rigid Bodies Attitude Synchronization with indirect attitude information. As the existing scheme of this literature can not be easily extended to Multiple Rigid Bodies Attitude Synchronization, the author redesigns single rigid body attitude tracking control law based on the novel strict Lyapunov function in Chapter 2, and the globally asymptotical stability of attitude and angular velocity tracking error will be achieved if we directly put additional terms of synchronization.Then, the attitude synchronization without angular velocity is considered. The author focuses on extending existing method of composite problem on attitude regulation and synchronization to the composite problem on attitude tracking and synchronization. Our method is different from the existing literature, which constructed a completely new dynamical system. We give a simple sufficient condition on control gain that guarantees globally asymptotical stability of closed loop system.In addition, some control laws in Chapter 2 and 4 are further modified on the basis of saturated control, then the maximum of the control torques will be constrained within the admissible range.The simulations fully make use of Aerospace Blockset and S-function in the Simulink, which simplify the construction of simulation module. Most of the proposed control laws, from single rigid body attitude tracking to multiple rigid bodies attitude synchronization, are verified. The simulations not only show the effectiveness of proposed control laws, but also contrast the effect of different schemes to the same task.