Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition

这份报纸在交换在哪儿的拓扑学下面考虑一组动人的僵硬身体的姿势同步问题每拓扑学的居住时间可以没有非零更低的界限。作者介绍一个平均居住时间条件描绘图在被连接的时间间隔的长度。由设计尖速度和线性速度的分布式的控制法律，有交换拓扑学的多重僵硬身体的靠近环的动力学能被变换成一个混合动态系统。作者采用 Lyapunov 稳定性定理，并且证明姿势同步能在平均居住时间条件下面被到达。而且，作者在一个类似的平均居住时间条件下面调查领导人追随者模型的姿势同步问题。模拟例子被给说明结果。

This paper considers the pose synchronization problem of a group of moving rigid bodies under switching topologies where the dwell time of each topology may has no nonzero lower bound. The authors introduce an average dwell time condition to characterize the length of time intervals in which the graphs are connected. By designing distributed control laws of angular velocity and linear velocity,the closed-loop dynamics of multiple rigid bodies with switching topologies can be converted into a hybrid dynamical system. The authors employ the Lyapunov stability theorem, and show that the pose synchronization can be reached under the average dwell time condition. Moreover, the authors investigate the pose synchronization problem of the leader-following model under a similar average dwell time condition. Simulation examples are given to illustrate the results.