We study in this thesis the problem of social attitude formation and dynamics using multi agent simulation. The concept of attitude could be defined as a global evaluation of a social object, based on cognitive or affective information. Our works belongs to the field of social simulation which aims to reproduce in a virtual environment complex social phenomenon at a macroscopic level based on m...

We present a novel method for integrating GPS position estimates with position and attitude estimates derived from visual odometry using a scheme similar to a classic loosely-coupled GPS/INS integration. Under such an arrangement, we derive the error dynamics of the system and develop a Kalman Filter for estimating the errors in position and attitude. Using a control-based approach to observabi...

This article presents a unified synchronization framework with application to precision formation flying spacecraft. Central to the proposed innovation, in applying synchronization to both translational and rotational dynamics in the Lagrangian form, is the use of the distributed stability and performance analysis tool, called contraction analysis that yields exact nonlinear stability proofs. T...

We analyze a class of binary dynamic models on agents’ choices and social interaction. The main feature of our analysis is that agents are heterogeneous, in particular their degree of conformism (attitude to interact with the choices of the other agents) changes over time endogenously. We provide a microfoundation of conformism and we analyze the resulting social interaction. We analyze steady ...

Group dynamics features are important factors for improving farmers’ socio-economic status. This study focused on the effect of group dynamics features on the socio-economic status of cocoa farmers in Ogun State, Nigeria. A multi-stage sampling technique was used to select 93 cocoa farmers for the study. Descriptive statistics and linear regression were used to analyze the data. Results showed ...

A numerical solution algorithm has been developed to solve a generalization of Wahba's attitude determination problem to the case of unknown attitude and attitude rate. It provides a robust global solution to nonlinear batch attitude and rate estimation problems for spinning spacecraft. The original Wahba problem seeks the attitude that fits a set of unit-normalized direction vector measurement...

A new spacecraft attitude estimation approach using particle filtering is derived. Based on sequential Monte Carlo simulation, the particle filter approximately represents the probability distribution of the state vector with random samples. The filter formulation is based on the star camera measurements using a gyro-based or attitude dynamics-based model for attitude propagation. Modified Rodr...

We develop a model predictive control (MPC) design for systems with discrete-time dynamics evolving on smooth manifolds. We show that the properties of conventional MPC for dynamics evolving on R are preserved and we develop a design procedure for achieving similar properties. We also demonstrate that for discrete-time dynamics on manifolds with Euler characteristic not equal to 1, there do not...

The attitude dynamics of a spacecraft with a variable speed control moment gyroscope (CMG), in the presence of conservative external inputs, are derived using variational principles. A complete dynamics model, that relaxes some of the assumptions made in prior literature on control moment gyroscopes, is obtained. These dynamics equations show the complex nonlinear coupling between the internal ...

Robust attitude tracking control of a small-scale aerobatic helicopter using geometric and backstepping techniques is presented in this article. A nonlinear coupled rotor-fuselage dynamics model of the helicopter is considered, wherein the rotor flap dynamics is modeled as a first order system, while the fuselage is as a rigid body dynamically coupled to the rotor system. The robustness of the ...