2125 Leader Following in Passivity-based 3D Attitude-Coordination : Convergence Analysis and Experiments
Masayuki Fujita, Yuji Igarashi, Naoto Kobayashi · The Proceedings of the Symposium on the Motion and Vibration Control · 2007
This paper investigates the leader following problem in 3D attitude coordination by using a passivity-based approach. We propose a control law which causes the agents to reach the same attitudes as their leader in 3D-space. This control law is based on the passivity of each agent's kinematic. Then, we prove that the proposed control law achieves leader following for the attitude coordination problem. Finally, we demonstrate the validity of the proposed control law through numerical simulations and experiments.