论文标题
在指导拓扑下的全球态度同步网络刚体
Global Attitude Synchronization of Networked Rigid Bodies Under Directed Topologies
论文作者
论文摘要
研究了针对定向拓扑结构的网络刚体的全球态度同步问题。为了避免仅矢量部分收敛到某些相同值但标量零件的异步陷阱，利用乘法四个误差来开发具有绝对测量值的刚性物体的态度同步协议。结果表明，只有当定向拓扑是准确连接时，才能实现网络刚体的全局同步。同时，一种新型的双能功能分析方法，配备了有关标量零件和坐标转换机制的订购排列技术，构建了用于网络刚性体的季节行为分析。特别是，无论我们的分析方法如何实现全球同步，无论乘法季节误差带来的高度非线性和强烈的耦合问题，这严重阻碍了对网络刚体的全局同步分析的传统分析。提供了网络航天器的仿真，以显示不同定向拓扑结构下的全局同步性能。
The global attitude synchronization problem is studied for networked rigid bodies under directed topologies. To avoid the asynchronous pitfall where only vector parts converge to some identical value but scalar parts do not, multiplicative quaternion errors are leveraged to develop attitude synchronization protocols for rigid bodies with the absolute measurements. It is shown that global synchronization of networked rigid bodies can be achieved if and only if the directed topology is quasi-strongly connected. Simultaneously, a novel double-energy-function analysis method, equipped with an ordering permutation technique about scalar parts and a coordinate transformation mechanism, is constructed for the quaternion behavior analysis of networked rigid bodies. In particular, global synchronization is achieved with our analysis method regardless of the highly nonlinear and strongly coupling problems resulting from multiplicative quaternion errors, which seriously hinder the traditional analysis of global synchronization for networked rigid bodies. Simulations for networked spacecraft are presented to show the global synchronization performances under different directed topologies.
