Distributed constrained attitude and position control using graph laplacians

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dc.contributor.authorOkoloko I.
dc.contributor.authorKim Y.
dc.date.accessioned2011-10-13T16:58:38Z
dc.date.available2011-10-13T16:58:38Z
dc.date.issued2010
dc.description.abstractWe 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. Copyright © 2010 by ASME.
dc.description.versionConference Paper
dc.identifier.citationASME 2010 Dynamic Systems and Control Conference, DSCC2010
dc.identifier.citation2
dc.identifier.citationhttp://www.scopus.com/inward/record.url?eid=2-s2.0-79958225403&partnerID=40&md5=a4f0a52a3343c53a72fe46ee272bc3aa
dc.identifier.urihttp://hdl.handle.net/10019.1/16797
dc.subjectCo-ordinated control
dc.subjectCommunicating vehicles
dc.subjectCommunication graphs
dc.subjectConstrained attitude controls
dc.subjectGraph laplacians
dc.subjectGraph-theoretic
dc.subjectLaplacian matrices
dc.subjectMobile sensor networks
dc.subjectNovel methodology
dc.subjectOptimization based methods
dc.subjectPlanetary scale
dc.subjectSemidefinite programs
dc.subjectStatic and dynamic obstacles
dc.subjectStochastic matrices
dc.subjectThree dimensional space
dc.subjectVehicle navigation
dc.subjectAttitude control
dc.subjectGraph theory
dc.subjectMatrix algebra
dc.subjectNavigation
dc.subjectSensor networks
dc.subjectConstrained optimization
dc.titleDistributed constrained attitude and position control using graph laplacians
dc.typeConference Paper
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