一种具有多领航者的姿态协同控制算法

Distributed attitude cooperative control with multiple leaders

摘要:

针对姿态角信息拓扑为无向图且角速度信息拓扑为有向图的情况,提出了一种基于相对姿态角和相对角速度信息的包容算法,利用代数图论理论,分析了姿态包容控制对角速度信息拓扑的约束条件．并针对无法获取相对角速度信息的情况,提出一种含角速度阻尼的控制策略,利用李雅普诺夫方法证明了该算法能够实现包容控制．系统仿真验证了所得结论的正确性．

Abstract:

Attitude containment control is a kind of distributed cooperative control with multiple leaders, whose objective is to drive all the followers into the leaders formed convex hull. For the case of undirected angular information topology and directed angular velocity information topology, a containment control algorithm based on relative angular and relative angular velocity is proposed, and the constrained conditions for the angular velocity information topology to ensure containment objective are obtained by using algebraic graph theory. When the relative angular velocity is unavailable, a containment control algorithm with damping element on angular velocity is proposed, and its convergence is proved by Lyapunov method. Numerical simulations results validate the correctness of the algorithm. 