IIC-- Dstrbuted Cooperatve Atttude Control for Multple Rgd Bodes wth Communcaton Delay Yoshhro achbana, oru Namerkawa (Keo Unversty) Abstract hs paper descrbes dstrbuted cooperatve atttude consensus and synchronzaton for multple rgd bodes wth communcaton delay. Mult-agent system s composed of multple autonomous agents and they exchanges nformaton for each other. If there are tme delays n the communcaton lnes, the system may become unstable and may not acheve the control objectve. he atttudes are represented by modfed Rodrguez parameters. Frst, we show the proposed control law guarantees consensus among agents. Second, t can be shown that atttude synchronzaton to reference atttude can be guaranteed va the proposed consensus control law. Fnally, smulaton results show effectveness of the two proposed control laws. (mult-agent system, communcaton delay, rgd body, atttude synchronzaton ). (MAS) MAS () () () () () () MAS MAS (7) (8) (9) () () () () () (9) (MRP) (). v = v v v R v v v = v v () v v w = w w w R v w = v w a, b R a b a =, a a = (MRP) MRP σ R λ R θ R σ = λ tan θ () () () σ = F(σ )ω J ω = ω J ω + τ F(σ ) = σ σ I + σ + σ σ () ω R J R τ R /
> σ, σ j, j σ j, σ j j σ σ j σ j (t) = σ (t ) σ j (t) = σ () j(t ) n j σ, σ j R lm σ = σ j, j V (8) t σ R σ d R lm σ = σ d V (9) t Fg.. Communcaton lne n v V = {v, v,, v n } E V V (v j,v ) v j v N = {v j V : (v j, v ) E} v v j v v j v v j A D L A = a j (v j N ) a j = () (v j N ) D v d = N D = dag(d, d,, d n ) () MAS L L = D A (7) () L n = n = R n () L. () () τ (t) = F k j (σ (t)) a j (σ (t) σ j (t )) + κ σ (t) d () j= κ R > R > A = a j k j d a j = a j, k j = k j κ > k j () n () () MAS Proof. σ (t) σ (t ) σ (t ) = σ (t) σ j (t) σ (t + µ)dµ () σ j (t) = σ (t) σ j (t) () () τ (t) = F (σ (t)) k j a j (σ j (t) + d j= σ j (t + µ)dµ) + κ σ (t) () (t) V = κ + d ω J ω + κ = = j= k ja j = j= µ k j a j σ jσ j σ (t + s) σ (t + s)dsdµ() /
V ω, σ j, σ c > {(ω, σ j, σ ) V c } ω, σ j, σ V t V = κ d ω J ω + κ k j a j σ jσ j = + = j= = κ d ω + = + = = = j= k ja j ( σ σ σ (t + µ) σ (t + µ) ) dµ ( F (σ ) j= k j d a j (σ j σ j (t + µ)dµ) + κ σ ) + κ k ja j j= k ja j j= = κ d σ σ + κ = = = = κ κ = = k j a j σ j= k ja j j= σ σ dµ = k j a j σ σ j j= σ (t + µ) σ (t + µ)dµ = j= a j σ σ + j= k j a j σ j= k ja j σ σ σ j (t + µ)dµ σ (t + µ) σ (t + µ)dµ = k ja j σ σ j= σ j (t + µ)dµ k ja j σ (t + µ) σ (t + µ)dµ = j= = a j (κ k j ) σ σ = j= ( κ a j = j= σ σ + κk j σ σ j (t + µ) ) +k j σ j (t + µ) σ j (t + µ) dµ = a j (κ k j ) σ σ = j= ( ) κ a j σ + k j σ j (t + µ) = j= ( ) κ σ + k j σ j (t + µ) dµ () κ > k j > V V σ σ = F(σ )ω ω () τ σ, τ σ, τ () τ = F (σ) ( L I )σ + ( A I ) σ(t + µ)dµ + κ σ () F (σ) = dagf (σ ),, F n (σ n ) A = k j d a j L A σ σ τ τ () F (σ) ( L I )σ + ( A I ) σ(t + µ)dµ (7) ( A I ) t σ(µ)dµ σ(t) t t = µ σ(µ) ( A I ) t σ(µ)dµ (7) t ( L I )σ (8) σ = σ = = σ n t σ (t) σ j (t), ω (t) () τ (t) = F k j (σ (t)) a j (σ (t) σ j (t )) d j= +k (n+) a (n+) (σ (t) σ d ) + κ σ (t) (9) σ d a (n+) k (n+) κ > k j σ d (9) n () () MAS Proof. (), () (9) τ (t) = F k j (σ (t)) a j (σ j (t) d j= + σ j (t + µ)dµ) + k (n+) a (n+) (σ (t) σ d ) + κ σ (t) () (t) V = κ d ω J ω + κ k j a j σ jσ j = = j= + κ d k (n+) a (n+) (σ σ d ) (σ σ d ) + = = j= k ja j µ σ (t + s) σ (t + s)dsdµ() V ω, σ j, σ σ d, σ c > {(ω, σ j, σ σ d, σ ) V c } ω, σ j, σ σ d, σ V t V = κ d ω J ω + κ k j a j σ jσ j = = j= +κ d k (n+) a (n+) σ (σ σ d ) = /
+ k ja j ( σ σ σ (t + µ) σ (t + µ) ) dµ = j= = a j (κ k j ) σ σ = j= ( ) κ a j σ + k j σ j (t + µ) = j= ( ) κ σ + k j σ j (t + µ) dµ () κ > k j > V V σ σ = F(σ )ω ω () τ σ, τ σ, τ () τ = F (σ) (M I )(σ n σ d ) +( A I ) σ(t + µ)dµ + κ σ () κ > k j =. (), κ =.,. able. Rgd body specfcatons J kgm.9..;...;...9 J kgm...;...;... J kgm..7.;.7..;... J kgm.9..;...7;..7. J kgm...;...;... J kgm...;..9.;...7 M = L + dagk (n+) a (n+),, k n(n+) a n(n+) σ σ τ τ () F (σ) (M I )(σ n σ d ) +( A I ) σ(t + µ)dµ () ( A I ) t σ(µ)dµ σ(t) t t = µ σ(µ) ( A I ) t σ(µ)dµ () t Fg.. Communcaton topology (M I )(σ n σ d ) () M z R z = z,, z n z ( L I )z = z = z j σ d k (n+) a (n+) > z (M I )z = z ( L I )z + n = k (n+) a (n+) z z z (M I )z = z = M M I σ n σ d t σ (t) σ d, ω (t) Fg.. Intal atttudes of rgd bodes. n = a 7 = a 7 = ( ) σ d k j = k 7 = σ d =... =.s κ 8, κ =., 7 κ =. 8 σ ( j) ω ( j) ( j) σ ω j,, 7 κ /
8 9 # σ d κ, 9, κ σ d =... σ (). σ ().. σ ()... σ () σ () σ () (κ =.) Fg.. Atttude (κ =.) ω () (κ =.) Fg.. Atttude (κ =.).. ω (). ω ()... 7 (κ =.) Fg. 7. Angular velocty (κ =.) ω () ω () ω ().... (κ =.) Fg.. Angular velocty (κ =.) Fg. 8. 8 Fnal atttudes of rgd bodes. /
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