Attitude coordinated control for multiple rigid bodies
Dai Gao, Jianting Lyu, Hongping Yang, Liyuan Yang · 2016
In this paper, attitude coordination control problem for multiple rigid bodies under a directed communication topology is studied. A distributed control algorithm of multiple rigid bodies in the presence of time-varying communication delays is designed, and with Lyapunov theory and algebraic graph theory, rigorous proof of global asymptotical stability of closed-loop system is given. Then, considering external disturbance, the uncertainty of inertia moment and time-varying communication delays exist simultaneously, an adaptive sliding mode control algorithm for multiple rigid bodies is designed to guarantee the attitude synchronization. Finally, numerical simulations are provided to illustrate the feasibility and effectiveness of the designed distributed control algorithms.