Distributed Coordinated Attitude Control for Multiple Rigid Bodies

Dai Gao, Jianting Lv, Benli Wang
2012 Procedia Engineering  
This paper addresses coordinated attitude control problem for multiple rigid bodies. Based on graph theory and Lyapunov stability theory, distributed coordinated attitude control laws are designed. The proposed control laws guarantee that each rigid body attains desired time-varying attitude and angular velocity while maintaining attitude synchronization with other rigid body. Furthermore, attitude tracking and synchronization without angular velocity measurements and with input constraints is also discussed.
doi:10.1016/j.proeng.2012.01.346 fatcat:7d7l37rgn5h7tcrabilzhs5eze