Attitude synchronization and position consensus for a multi-agent autonomous system

Kimathi, M. Stephen and Beszédes, Bertalan and Benhamida, Abdallah (2025) Attitude synchronization and position consensus for a multi-agent autonomous system. In: New Trends in Aviation Development 2025 The XX. International Scientific Conference Proceedings. IEEE, pp. 152-157.

Text 2025376256.pdf - Published Version Restricted to Registered users only Download (2MB)

Abstract

This paper presents a formulation for the simultaneous solution to the attitude and position control for a multiagent formation coordination, based on dual quaternion and graph theory techniques. The agents in the formation system are represented using dual quaternion parameterized kinematics in the configuration space, such that a control strategy is designed to achieve the simultaneous attitude synchronization and position consensus to a target reference trajectory. The control strategy is formulated based on a distributed leader follower formation architecture, with a static configuration modelled using graph theory. The goal of the formation system is to ensure the convergence and tracking of attitude trajectory of the leader agent by the followers agents, while maintaining a preset desired formation shape between the agents. Numerical simulations have been presented using four homogeneous rigid bodies, to validate the effectiveness of the proposed control configuration in the consensus based formation acquisition and maintenance.

Actions (login required)

Edit Item