Coordinated attitude motion control of multiple rigid bodies on manifold SO (3)
Shengxuan Weng, Dong Yue, Taicheng Yang · IET Control Theory and Applications · 2013
As a special case of consensus on non‐linear spaces, in this study coordinated attitude motion control for a group of rigid bodies is investigated for second‐order systems on Lie group SO (3). By introducing an auxiliary variable for each rigid body, the distributed controllers are designed so that the left‐invariant coordination is asymptotically achieved and total coordination is at least locally asymptotically achieved. Simulation results for a multi‐agent system consist of four rigid bodies show the effectiveness of the proposed design.