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Event-Triggered Attitude Consensus of Multiple Rigid Body Systems With Prescribed Performance
IEEE Transactions on Cybernetics
|November 8, 2024
Summary
This study introduces two event-triggered attitude consensus protocols for multiple rigid body systems. These protocols ensure almost global consensus with guaranteed performance, enhancing control system reliability.
Area of Science:
- Robotics
- Control Theory
- Aerospace Engineering
Background:
- Achieving attitude consensus in multi-agent systems is crucial for coordinated maneuvers.
- Existing methods often require continuous communication, which is inefficient.
- Prescribed performance constraints are essential for practical applications.
Purpose of the Study:
- To develop event-triggered attitude consensus protocols for multiple rigid body systems.
- To ensure almost global consensus under jointly connected graphs.
- To guarantee prescribed transient behavior and convergence performance.
Main Methods:
- Proposing two kinematic-level attitude consensus protocols using axis-angle vectors.
- Utilizing prescribed performance functions based on local states and axis-angle space metrics.
- Designing a dynamic event-triggered framework for attitude geometric topology and convergence.
Main Results:
- Demonstrated almost global attitude consensus under jointly connected graphs using the first protocol.
- Achieved attitude consensus with guaranteed prescribed transient behavior via the second protocol.
- Validated the effectiveness of both protocols through numerical simulations.
Conclusions:
- The proposed event-triggered protocols effectively achieve attitude consensus for multiple rigid body systems.
- The methods ensure prescribed performance constraints, enhancing control robustness.
- These protocols offer efficient and reliable solutions for coordinated attitude control.
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