Abstract
This chapter applies the passivity-based cooperative control strategy, presented in the previous chapter, to attitude synchronization for a network of multiple rigid bodies. Based on the inherent passivity in rigid body motion, a passivity-based attitude synchronization law is presented regarding the attitude of each rigid body as the system output, and synchronization is proved using the energy function defined in the same way as the previous chapter. We also clarify the relation between the network structure and the convergence speed, and prove synchronization in the presence of topology switches.
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Notes
- 1.
A rotation matrix \(e^{\hat{\xi }\theta }\) is said to be positive definite if \(x^T e^{\hat{\xi }\theta } x > 0 \ \forall x \ne 0\) throughout this book. Note that the definition is slightly different from positive definiteness of general matrices in that symmetry is not required.
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© 2015 Springer International Publishing Switzerland
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Hatanaka, T., Chopra, N., Fujita, M., Spong, M.W. (2015). Attitude Synchronization for Rigid Body Networks. In: Passivity-Based Control and Estimation in Networked Robotics. Communications and Control Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-15171-7_9
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DOI: https://doi.org/10.1007/978-3-319-15171-7_9
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-15170-0
Online ISBN: 978-3-319-15171-7
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