{"id":1570,"date":"2019-02-09T22:55:28","date_gmt":"2019-02-10T06:55:28","guid":{"rendered":"http:\/\/depts.washington.edu\/uwrainlab\/?page_id=1570"},"modified":"2019-02-09T22:56:10","modified_gmt":"2019-02-10T06:56:10","slug":"coupled-6-dof-control-for-distributed-aerospace-systems","status":"publish","type":"page","link":"http:\/\/depts.washington.edu\/uwrainlab\/coupled-6-dof-control-for-distributed-aerospace-systems\/","title":{"rendered":"Coupled 6-DOF Control for Distributed Aerospace Systems"},"content":{"rendered":"<p><strong>T. P. Reynolds, M. Mesbahi<\/strong><\/p>\n<p><strong style=\"text-align: justify;\">IEEE Conference on Decision and Control<\/strong><\/p>\n<p style=\"text-align: justify;\"><span style=\"text-align: justify;\">In this paper, we investigate the problem of simultaneously controlling both attitude and position of a network of collaborative aerospace vehicles. In particular, we use unit dual quaternions to model the coupled rotational and translational motion present in many applications. We then derive a simple PD-like feedback controller that simultaneously stabilizes the attitude and position of all vehicles in the network. The analysis reveals global asymptotic stability using LaSalle&#8217;s invariance principle. We discuss various applications of the control design framework and provide a numerical example of a spacecraft landing on a moving platform. This example demonstrates the utility of the proposed approach to 6-degree-of-freedom multiagent coordination that can be achieved with a single framework.<\/span><\/p>\n<div class=\"gs_scl\"><\/div>\n<p><strong>Links:<\/strong><\/p>\n<p><a href=\"https:\/\/ieeexplore.ieee.org\/abstract\/document\/8619618\"><img loading=\"lazy\" class=\"alignnone wp-image-810\" src=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/download.png\" alt=\"\" width=\"26\" height=\"26\" srcset=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/download.png 225w, http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/download-150x150.png 150w\" sizes=\"(max-width: 26px) 100vw, 26px\" \/><\/a> \u00a0 <a href=\"https:\/\/ieeexplore.ieee.org\/stamp\/stamp.jsp?arnumber=8619618\"><img loading=\"lazy\" class=\"alignnone wp-image-811\" src=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/image_preview.png\" alt=\"\" width=\"31\" height=\"31\" srcset=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/image_preview.png 250w, http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/image_preview-150x150.png 150w\" sizes=\"(max-width: 31px) 100vw, 31px\" \/><\/a> \u00a0 <a href=\"https:\/\/scholar.google.com\/scholar?hl=en&amp;as_sdt=0%2C48&amp;q=Coupled+6-DOF+Control+for+Distributed+Aerospace+Systems&amp;btnG=#d=gs_cit&amp;u=%2Fscholar%3Fq%3Dinfo%3A5vadNxm3V-IJ%3Ascholar.google.com%2F%26output%3Dcite%26scirp%3D0%26hl%3Den\"><img loading=\"lazy\" class=\"alignnone wp-image-809\" src=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/BibTeX_logo.svg_-300x97.png\" alt=\"\" width=\"65\" height=\"21\" srcset=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/BibTeX_logo.svg_-300x97.png 300w, http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/BibTeX_logo.svg_-768x248.png 768w, http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/BibTeX_logo.svg_-1024x330.png 1024w, http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/BibTeX_logo.svg_.png 1200w\" sizes=\"(max-width: 65px) 100vw, 65px\" \/><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>T. P. Reynolds, M. Mesbahi IEEE Conference on Decision and Control In this paper, we investigate the problem of simultaneously controlling both attitude and position of a network of collaborative aerospace vehicles. In particular, we use unit dual quaternions to model the coupled rotational and translational motion present in many applications. We then derive a [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/pages\/1570"}],"collection":[{"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/comments?post=1570"}],"version-history":[{"count":1,"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/pages\/1570\/revisions"}],"predecessor-version":[{"id":1571,"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/pages\/1570\/revisions\/1571"}],"wp:attachment":[{"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/media?parent=1570"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}