Distributed Consensus for Multiple Rigid-Bodies Based on Unit Dual Quaternion∗∗This work was supported by the National Science Foundation under grant 61375072 and Nature Science Foundation of Zhejiang Province under grant LQ13F030014.
Yinqiu Wang, Renquan Lu, Jianzhong Wang, Anke Xue · IFAC-PapersOnLine · 2015
This paper addresses the distributed consensus problem for multiple rigid-bodies under directed communication topology having a spanning tree with the tool of unit dual quaternion. The dynamics of rigid-bodies in 3-D are represented by unit dual quaternion with notion concision and nonsingularity. A distritbuted consensus algorithm is proposed to control attitudes and positions of all rigidbodies to the same values. We also expand the leaderless distributed algorithm to tracking consensus case with a static leader. Finally, the proposed control algorithms are simulated to illustrate the theoretical results.