Attitude Formation Control of Multiple Vehicles subject to Communication Constraints
Kamesh Subbarao, Divya Bhatia · Infotech@Aerospace 2011 · 2011
This paper presents a constrained dynamical systems based attitude synchronization and tracking for a formation of rigid bodies. The generalized constrained dynamics equations of motion are developed utilizing constraint potential energy functions that enforce communication constraints. The constraint potential energy is synthesized based on a graph theoretic formulation of the vehicle-vehicle communication. Additional constraint stabilization is achieved via a modified Baumgarte stabilization method. The performance of these constrained dynamics based formations is evaluated for bounded control authority.