Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks

Automatica ◽  
2021 ◽  
Vol 125 ◽  
pp. 109388
Author(s):  
Juan Deng ◽  
Lin Wang ◽  
Zhixin Liu
Keyword(s):  
Rigid Bodies ◽  
Attitude Synchronization

Adaptive neural-based finite-time attitude synchronization and tracking control of multiple rigid bodies under actuator faults and saturation

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Amin Mihankhah ◽  
Ali Doustmohammadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Estimation Error ◽  
External Disturbance ◽  
Upper Bounds ◽  
Rigid Bodies ◽  
Sliding Surface ◽  
Actuator Faults ◽  
Content Type ◽  
Attitude Synchronization

Purpose The purpose of this paper, is to solve the problem of finite-time fault-tolerant attitude synchronization and tracking control of multiple rigid bodies in presence of model uncertainty, external disturbances, actuator faults and saturation. It is assumed that the rigid bodies in the formation may encounter loss of effectiveness and/or bias actuator faults. Design/methodology/approach For the purpose, adaptive terminal sliding mode control and neural network structure are used, and a new sliding surface is proposed to guarantee known finite-time convergence not only at the reaching phase but also on the sliding surface. The sliding surface is then modified using a proposed auxiliary system to maintain stability under actuator saturation. Findings Assuming that the communication topology between the rigid bodies is governed by an undirected connected graph and the upper bounds on the actuators’ faults, estimation error of model uncertainty and external disturbance are unknown, not only the attitudes of the rigid bodies in the formation are synchronized but also they track the time-varying attitude of a virtual leader. Using Lyapunov stability approach, finite-time stability of the proposed control algorithms demonstrated on the sliding phase as well as the reaching phase. The effectiveness of the proposed algorithm is also validated by simulation. Originality/value The proposed controller has the advantage that the need for any fault detection and diagnosis mechanism and the upper bounds information on estimation error and external disturbance is eliminated.

Event-triggered adaptive fault-tolerant attitude synchronization and tracking control of multiple rigid bodies with finite-time convergence

2021 ◽  
pp. 107754632098773
Author(s):  
Amin Mihankhah ◽  
Ali Doustmohammadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Data Communication ◽  
Rigid Bodies ◽  
Actuator Faults ◽  
Control Effort ◽  
Attitude Synchronization ◽  
Event Triggered

This study investigates finite-time attitude synchronization and tracking control of multiple rigid bodies under event-triggered control strategy in presence of actuator faults and an external disturbance. The event-triggered implementation technique aims to reduce resource utilization in regard to control effort and communication burden. To achieve this aim, the adaptive sliding mode structure is used, and a novel triggering condition is proposed. In presence of unknown actuator faults and external disturbance, it is shown that the multiple rigid bodies track a time-varying attitude of a virtual leader synchronously in finite time under limited data communication. Moreover, a lower bound on the inter-event times has been derived to ensure that the Zeno behavior is avoided. The effectiveness of the proposed method is validated by numerical simulation along with comparison with another relevant research.

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