Distributed constrained attitude and position control using graph laplacians

Okoloko I.; Kim Y.

Distributed constrained attitude and position control using graph laplacians

Date

2010

Authors

Okoloko I.

Kim Y.

Abstract

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. Copyright © 2010 by ASME.

Keywords

Co-ordinated control, Communicating vehicles, Communication graphs, Constrained attitude controls, Graph laplacians, Graph-theoretic, Laplacian matrices, Mobile sensor networks, Novel methodology, Optimization based methods, Planetary scale, Semidefinite programs, Static and dynamic obstacles, Stochastic matrices, Three dimensional space, Vehicle navigation, Attitude control, Graph theory, Matrix algebra, Navigation, Sensor networks, Constrained optimization

Citation

ASME 2010 Dynamic Systems and Control Conference, DSCC2010
2
http://www.scopus.com/inward/record.url?eid=2-s2.0-79958225403&partnerID=40&md5=a4f0a52a3343c53a72fe46ee272bc3aa