Consensus on SO(3) with Piecewise-Continuous Sinusoids
- Resource Type
- Conference
- Authors
- Chavan, Roshan; Wang, Shaoqian; Seigler, T. Michael; Hoagg, Jesse B.
- Source
- 2018 Annual American Control Conference (ACC) American Control Conference (ACC), 2018 Annual. :1635-1640 Jun, 2018
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Kinematics
Nickel
Position control
History
Feedback control
Underwater vehicles
Aerospace electronics
- Language
- ISSN
- 2378-5861
We present feedback control algorithms for multi-agent orientation consensus on SO(3), where each agent's angular-velocity control is restricted to be a piecewise-continuous sinusoid. The main results are two algorithms for orientation consensus. The first algorithm achieves local orientation consensus for the case where each agent uses relative-orientation feedback of its neighbor agents. The second algorithm achieves almost global orientation consensus for the case where each agent uses absolute-orientation feedback of its neighbor agents. We also present numerical simulations to demonstrate these orientation consensus algorithms.