Sidón-Ayala Miguel, Pliego-Jiménez Javier, Cruz-Hernandez César
Departamento de Electrónica y Telecomunicaciones, División de Física Aplicada, Centro de Investigación Científica y de Educación Superior de Ensenada, Carretera Ensenada-Tijuana 3918, Ensenada 22860, Mexico.
Programa Investigadores por México, Consejo Nacional de Humanidades Ciencias y Tecnologías, Av. Insurgentes Sur 1582, Mexico City 03940, Mexico.
Entropy (Basel). 2023 May 23;25(6):832. doi: 10.3390/e25060832.
Currently, managing a group of satellites or robot manipulators requires coordinating their motion and work in a cooperative way to complete complex tasks. The attitude motion coordination and synchronization problems are challenging since attitude motion evolves in non-Euclidean spaces. Moreover, the equation of motions of the rigid body are highly nonlinear. This paper studies the attitude synchronization problem of a group of fully actuated rigid bodies over a directed communication topology. To design the synchronization control law, we exploit the cascade structure of the rigid body's kinematic and dynamic models. First, we propose a kinematic control law that induces attitude synchronization. As a second step, an angular velocity-tracking control law is designed for the dynamic subsystem. We use the exponential coordinates of rotation to describe the body's attitude. Such coordinates are a natural and minimal parametrization of rotation matrices which almost describe every rotation on the Special Orthogonal group SO(3). We provide simulation results to show the performance of the proposed synchronization controller.
目前，管理一组卫星或机器人操纵器需要以协作的方式协调它们的运动和工作，以完成复杂任务。姿态运动协调和同步问题具有挑战性，因为姿态运动在非欧几里得空间中演化。此外，刚体的运动方程是高度非线性的。本文研究了在有向通信拓扑结构下一组全驱动刚体的姿态同步问题。为了设计同步控制律，我们利用了刚体运动学和动力学模型的级联结构。首先，我们提出了一种诱导姿态同步的运动学控制律。第二步，为动态子系统设计了角速度跟踪控制律。我们使用旋转的指数坐标来描述物体的姿态。这样的坐标是旋转矩阵的一种自然且最小的参数化，它几乎描述了特殊正交群SO(3)上的每一种旋转。我们提供了仿真结果来展示所提出的同步控制器的性能。
