Leader-following attitude consensus of multiple rigid body systems by attitude feedback control

• He Cai ^[1] ; Jie Huang ^[1]
  1. [1] Chinese University of Hong Kong

     Chinese University of Hong Kong

     RAE de Hong Kong (China)

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 69, 2016, págs. 87-92
• Idioma: inglés
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• Resumen

  • In this paper, we study the leader-following attitude consensus problem for multiple rigid body systems by a distributed unit quaternion-based attitude feedback control law. The control law is based on the certainty equivalence principle and contains a distributed observer for estimating the state of the leader and an auxiliary system compensating for the unavailability of the angular velocity. It is shown that the problem is solvable under the standard assumption that each follower can access the information from the leader through a directed path.