@inproceedings{9c3a1ce5f0744436a3b307ea71e0d493,
title = "Attitude and pose formation control for multiple 3D rigid bodies based on unit quaternion representation",
abstract = " This paper discusses rigid body formation control for multi-agent systems in 3D spaces and proposes a formation control law to achieve attitude formation and pose formation for multiple rigid bodies. The proposed formation control strategy extends the available attitude synchronization law to an attitude formation control law, and further employs the consensus-based position control to achieve a rigid body formation control in 3D spaces. Each agent's attitude state is represented by a unit quaternion, and each agent's position is represented by a vector in R 3 . We show that the formation system with the proposed control law is stable at the desired equilibrium by providing a Lyapunov argument for the attitude component. We also employ the stability analysis of cascade systems for the overall rigid body formation system by using available results on linear consensus dynamics.",
author = "{Van Goor}, Pieter and Zhiyong Sun and {Brad Yu}, Changbin",
note = "Publisher Copyright: {\textcopyright} 2018 Technical Committee on Control Theory, Chinese Association of Automation.; 37th Chinese Control Conference, CCC 2018 ; Conference date: 25-07-2018 Through 27-07-2018",
year = "2018",
month = oct,
day = "5",
doi = "10.23919/ChiCC.2018.8483010",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "6505--6510",
editor = "Xin Chen and Qianchuan Zhao",
booktitle = "Proceedings of the 37th Chinese Control Conference, CCC 2018",
address = "United States",
}