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Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition

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Abstract

This paper considers the pose synchronization problem of a group of moving rigid bodies under switching topologies where the dwell time of each topology may has no nonzero lower bound. The authors introduce an average dwell time condition to characterize the length of time intervals in which the graphs are connected. By designing distributed control laws of angular velocity and linear velocity, the closed-loop dynamics of multiple rigid bodies with switching topologies can be converted into a hybrid dynamical system. The authors employ the Lyapunov stability theorem, and show that the pose synchronization can be reached under the average dwell time condition. Moreover, the authors investigate the pose synchronization problem of the leader-following model under a similar average dwell time condition. Simulation examples are given to illustrate the results.

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Author information

Authors and Affiliations

  1. LSC, Academy of Mathematics and Systems Science, Chinese Academy of Science, Beijing, 100190, China

    Juan Deng & Zhixin Liu

  2. School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing, 100049, China

    Juan Deng & Zhixin Liu

  3. Department of Automation, Shanghai Jiaotong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240, China

    Lin Wang

  4. Optimization and Systems Theory, KTH Royal Institute of Technology, 10044, Stockholm, Sweden

    Xiaoming Hu

Authors
  1. Juan Deng
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  2. Lin Wang
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  3. Zhixin Liu
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  4. Xiaoming Hu
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Corresponding author

Correspondence to Zhixin Liu.

Additional information

This work was supported by the National Natural Science Foundation of China under Grant Nos. 61473189 and 61621003, the National Key Basic Research Program of China (973 program) under Grant No. 2014CB845302.

This paper was recommended for publication by Guest Editor XIN Bin.

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Deng, J., Wang, L., Liu, Z. et al. Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition. J Syst Sci Complex 31, 215–233 (2018). https://doi.org/10.1007/s11424-018-7379-2

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  • DOI: https://doi.org/10.1007/s11424-018-7379-2

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