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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2026
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2603.22773 |
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| _version_ | 1866911540991492096 |
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| author | Lin, Fengyu Wang, Miaomiao Su, Housheng Tayebi, Abdelhamid |
| author_facet | Lin, Fengyu Wang, Miaomiao Su, Housheng Tayebi, Abdelhamid |
| contents | This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using relative pose and group velocity measurements. The key idea consists of constructing a new potential function on $\SE(3) \times \mathbb{R}$ with a generalized non-diagonal weighting matrix, and a set of auxiliary scalar variables with continuous-discrete hybrid dynamics. Based on the new potential function and the auxiliary scalar variables, a geometric distributed hybrid feedback designed directly on $\SE(3)$ is proposed to achieve global pose synchronization. Numerical simulation results are presented to illustrate the performance of the proposed distributed hybrid control scheme. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_22773 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Distributed Hybrid Feedback for Global Pose Synchronization of Multiple Rigid Body Systems on $SE(3)$ Lin, Fengyu Wang, Miaomiao Su, Housheng Tayebi, Abdelhamid Systems and Control This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using relative pose and group velocity measurements. The key idea consists of constructing a new potential function on $\SE(3) \times \mathbb{R}$ with a generalized non-diagonal weighting matrix, and a set of auxiliary scalar variables with continuous-discrete hybrid dynamics. Based on the new potential function and the auxiliary scalar variables, a geometric distributed hybrid feedback designed directly on $\SE(3)$ is proposed to achieve global pose synchronization. Numerical simulation results are presented to illustrate the performance of the proposed distributed hybrid control scheme. |
| title | Distributed Hybrid Feedback for Global Pose Synchronization of Multiple Rigid Body Systems on $SE(3)$ |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.22773 |