Distributed attitude and position consensus for networked rigid bodies based on unit dual quaternion

Yinqiu Wang, Fengmin Yu, Changbin Yu

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    5 Citations (Scopus)

    Abstract

    This paper provides unified solutions for distributed attitude and position consensus problems for networked fully actuated rigid bodies under the fixed and undirected communication topology, based on unit dual quaternion. We investigate two kinds of consensus, i.e., leader-following consensus with a static leader and leaderless consensus. Firstly, the dynamics of rigid bodies are presented by unit dual quaternion. The control torques and the control forces of rigid bodies are also given from unit dual quaternion. Secondly, the consensus problem with a static leader is studied. And with the proposed control law, all rigid bodies converge to the constant desired attitude and the constant desired position. Thirdly, we propose a distributed control law to guarantee that the attitudes and positions of all rigid bodies converge to the same values respectively without a leader.

    Original languageEnglish
    Title of host publicationProceedings of the 34th Chinese Control Conference, CCC 2015
    EditorsQianchuan Zhao, Shirong Liu
    PublisherIEEE Computer Society
    Pages7368-7373
    Number of pages6
    ISBN (Electronic)9789881563897
    DOIs
    Publication statusPublished - 11 Sept 2015
    Event34th Chinese Control Conference, CCC 2015 - Hangzhou, China
    Duration: 28 Jul 201530 Jul 2015

    Publication series

    NameChinese Control Conference, CCC
    Volume2015-September
    ISSN (Print)1934-1768
    ISSN (Electronic)2161-2927

    Conference

    Conference34th Chinese Control Conference, CCC 2015
    Country/TerritoryChina
    CityHangzhou
    Period28/07/1530/07/15

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