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Passivity-Based Attitude Synchronization in $SE(3)$
2009
IEEE Transactions on Control Systems Technology
This paper addresses passivity-based motion coordination of rigid bodies in the Special Euclidean group (3) under the assumption that the agents exchange information over strongly connected graphs. In this paper, we especially focus on one of the motion coordination problems on (3) called attitude synchronization. We first develop a passivity-based distributed velocity input law to achieve attitude synchronization. Using the notion of algebraic connectivity, we then establish a connection
doi:10.1109/tcst.2009.2014357
fatcat:iualzwqcyzfdvmskudvv67f6pq