Cooperative pointing control of collinear double-integrators without angular velocity |
| |
| Institution: | 1. School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China;2. School of Astronautics, Harbin Institute of Technology, Harbin, China;3. School of Civil Aviation, Northwestern Polytechnical University, Xi’an, China;4. School of Automation, School of Mathematics, Southeast University, Nanjing, China;1. School of Cyber Science and Engineering, Southeast University, Nanjing 210096, China;2. School of Mathematics, Southeast University, Nanjing 210096, China;3. School of Automation and Electrical Engineering, Linyi University, Linyi 276005, China;1. Advanced Research Institute of Multidisciplinary Sciences, Beijing Institute of Technology, Beijing 100081, China;2. Yangtze Delta Region Academy of Beijing Institute of Technology, Jiaxing 314000, China;3. School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China;4. School of Information and Electronics, Beijing Institute of Technology, Beijing 100081, China |
| |
| Abstract: | We deal with the cooperative pointing control problem of collinear double-integrators with unknown rotational inertia in this paper. In particular, we consider the case that the rotational angular velocity information is not available for this coordination task. First, we propose a cooperative pointing control protocol without using the rotational angular velocity measurements. By means of the passivity tool, a distributed estimation scheme is devised to access the relative rotational angular velocity information at each agent via the relative rotational angle information of the agent and its left and respectively right neighbors. Subsequently, we redesign the cooperative pointing control protocol as well as the distributed estimation scheme in the presence of saturated relative rotational angle information. It turns out that, here the unknown rotational inertia does not prevent the coordination task because of the bidirectional interactions. Meanwhile, two local estimation schemes are also presented respectively for the above two control protocols. Besides the rigorous convergence analysis, the effectiveness of our obtained theoretical results is illustrated through numerical simulations. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
