We present a graph theoretic and optimization based method for attitude and position consensus of a team of communicating vehicles navigating in three dimensional space. Coordinated control of such vehicles has applications in planetary scale mobile sensor networks, and multiple vehicle navigation in general. Using the Laplacian matrix of the communication graph, and attitude quaternions, a synthesis of the optimal stochastic matrix that drives the attitudes to consensus, is done, by solving a constrained semidefinite program. This novel methodology attempts to extend quadratically constrained attitude control (Q-CAC), to the consensus framework. The solutions obtained are used to realize coordinated rendezvous, and formation acquisition, in the presence of static and dynamic obstacles.
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ASME 2010 Dynamic Systems and Control Conference
September 12–15, 2010
Cambridge, Massachusetts, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4418-2
PROCEEDINGS PAPER
Distributed Constrained Attitude and Position Control Using Graph Laplacians
Innocent Okoloko,
Innocent Okoloko
Stellenbosch University, Matieland, South Africa
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Yoonsoo Kim
Yoonsoo Kim
Stellenbosch University, Matieland, South Africa
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Innocent Okoloko
Stellenbosch University, Matieland, South Africa
Yoonsoo Kim
Stellenbosch University, Matieland, South Africa
Paper No:
DSCC2010-4036, pp. 377-383; 7 pages
Published Online:
January 25, 2011
Citation
Okoloko, I, & Kim, Y. "Distributed Constrained Attitude and Position Control Using Graph Laplacians." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 377-383. ASME. https://doi.org/10.1115/DSCC2010-4036
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