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Rigid-Body Attitude Synchronization with Communication Delays

  • Abdelkader Abdessameud
  • Abdelhamid Tayebi
Part of the Advances in Industrial Control book series (AIC)

Abstract

This chapter focuses on the attitude synchronization problem of multiple rigid-body systems in the presence of communication delays. First, attitude synchronization schemes relying on the availability of the full state vector are presented. In particular, solutions to the leaderless/leader-follower attitude synchronization and the cooperative attitude tracking problems are proposed in the case of time-varying communication delays and undirected communication topology. Then, a virtual systems based approach is proposed to design synchronization schemes that solve the above problems and remove the requirement of angular velocity measurements. It is shown that this virtual-systems-based approach can be used to handle constant communication delays under a directed communication topology.

Keywords

Angular Velocity Communication Delay Communication Graph Unit Quaternion Vector Part 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  • Abdelkader Abdessameud
    • 1
  • Abdelhamid Tayebi
    • 2
  1. 1.Dept of Electr. & Computer EngineeringThe University of Western OntarioLondonCanada
  2. 2.Department of Electrical EngineeringLakehead UniversityThunder BayCanada

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