Cooperative Attitude Control of Multiple Rigid Bodies with Multiple Time‐Varying Delays and Dynamically Changing Topologies
Ziyang Meng, Zheng You, Guanhua Li, Chunshi Fan · Mathematical Problems in Engineering · 2010
Cooperative attitude regulation and tracking problems are discussed in the presence of multiple time‐varying communication delays and dynamically changing topologies. In the case of cooperative attitude regulation, we propose conditions to guarantee the stability of the closed‐loop system when there exist multiple time‐varying communication delays. In the case of cooperative attitude tracking, the result of uniformly ultimate boundedness of the closed‐loop system is obtained when there exist both multiple time‐varying communication delays and dynamically changing topologies. Simulation results are presented to validate the effectiveness of these conclusions.