Consensus on SO(3) with Piecewise-Continuous Sinusoids
Roshan A. Chavan, Shaoqian Wang, T. Michael Seigler, Jesse B. Hoagg · 2018
We present feedback control algorithms for multi-agent orientation consensus on SO(3), where each agent's angular-velocity control is restricted to be a piecewise-continuous sinusoid. The main results are two algorithms for orientation consensus. The first algorithm achieves local orientation consensus for the case where each agent uses relative-orientation feedback of its neighbor agents. The second algorithm achieves almost global orientation consensus for the case where each agent uses absolute-orientation feedback of its neighbor agents. We also present numerical simulations to demonstrate these orientation consensus algorithms.