Cooperative Attitude Control of Multiple Rigid Bodies with Multiple Time-Varying Delays and Dynamically Changing Topologies英文文献资料.docVIP

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Cooperative Attitude Control of Multiple Rigid Bodies with Multiple Time-Varying Delays and Dynamically Changing Topologies英文文献资料.doc

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Cooperative Attitude Control of Multiple Rigid Bodies with Multiple Time-Varying Delays and Dynamically Changing Topologies英文文献资料

HindawiPublishingCorporation MathematicalProblemsinEngineering Volume2010,ArticleID621594,19pages doi:10.1155/2010/621594 ResearchArticle CooperativeAttitudeControlofMultipleRigid BodieswithMultipleTime-VaryingDelaysand Dynamically ChangingTopologies ZiyangMeng, ZhengYou, GuanhuaLi, andChunshiFan 1 2 1 1 1Department ofPrecisionInstruments andMechanology, TsinghuaUniversity,Beijing100084,China 2StateKeyLaboratory ofPrecisionMeasurement TechnologyandInstruments, TsinghuaUniversity, Beijing100084,China Correspondence shouldbeaddressedtoZiyangMeng,panday227@ Received2January2010;Revised20April2010;Accepted 1June2010 Academic Editor:TamasKalmar-Nagy Copyright q2010ZiyangMengetal.Thisisanopenaccessarticledistributed undertheCreative Commons Attribution License, which permits unrestricted use,distribution, andreproduction in anymedium,providedtheoriginalworkisproperlycited. Cooperative attitude regulation and tracking problems arediscussed inthepresence ofmultiple time-varying communication delays and dynamically changing topologies. In the case of cooperativeattituderegulation,weproposeconditionstoguaranteethestabilityoftheclosed-loop system when thereexistmultiple time-varying communication delays. Inthecaseofcooperative attitude tracking, the result of uniformly ultimate boundedness of the closed-loop system is obtained when there exist both multiple time-varying communication delays and dynamically changing topologies. Simulation results are presented to validate the e?ectiveness of these conclusions. 1.Introduction Cooperativecontrolofmultiagentsystemhasbeenfollowedwithextensiveinterestinrecent years. Compared to single-agent system, greater bene?ts such as greater e?ciency, lower costs, and higher robustness can be realized by cooperation of multiagent system. The basicideaofcooperativecontrolofmultiagentsystemisthateachagentinthegroupuses its local interactions such that the common objectives and t