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Finite-Time Attitude Synchronization With Distributed Discontinuous Protocols
ACCESS Linnaeus Centre School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden.ORCID iD: 0000-0002-0170-0979
School of Engineering Sciences, KTH Royal Institute of Technology, Stockholm, Sweden..ORCID iD: 0000-0003-3772-761X
ACCESS Linnaeus Centre School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden.
Halmstad University, School of Information Technology. Luxembourg Centre for Systems Biomedicine, University of Luxembourg, Luxembourg.ORCID iD: 0000-0002-9738-4148
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2018 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, no 10, p. 3608-3615Article in journal (Refereed) Published
Abstract [en]

The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and nonsmooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper. 

Place, publisher, year, edition, pages
Piscataway, New Jersey: Institute of Electrical and Electronics Engineers (IEEE), 2018. Vol. 63, no 10, p. 3608-3615
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:hh:diva-39454DOI: 10.1109/TAC.2018.2797179ISI: 000446331200043OAI: oai:DiVA.org:hh-39454DiVA, id: diva2:1317395
Available from: 2019-05-22 Created: 2019-05-22 Last updated: 2019-05-24Bibliographically approved

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Wei, JieqiangZhang, SilunThunberg, JohanHu, XiaomingJohansson, Karl Henrik
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CiteExportLink to record
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