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arXiv · 1705.02821

Finite-time attitude synchronization with distributed discontinuous protocols

Jieqiang Wei·Silun Zhang·Antonio Adaldo·Johan Thunberg·Xiaoming Hu·Karl H. Johansson
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Abstract

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 non-smooth 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.

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Jieqiang Wei, Silun Zhang, Antonio Adaldo, Johan Thunberg, Xiaoming Hu, Karl H. Johansson. 2017-05-08. Finite-time attitude synchronization with distributed discontinuous protocols. https://arxiv.org/abs/1705.02821

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