Distributed attitude consensus for multiple rigid body systems with communication delay and jointly connected topologies
MA Long
WANG Shi-cheng
MIN Hai-bo
GUO Yang
Abstract：In this paper, we study the distributed attitude consensus problem for multiple networked rigid body systems in the case of communication time-delays together with jointly connected switching topologies. By constructing useful aux-iliary vectors and choosing proper common Lyapunov-Krasovskii functions, we design two control laws for two different cases respectively, i.e., the case with constant communication time-delays, and the case with time varying communication time-delays. Numerical simulation shows that the proposed algorithms are effective to this kind of distributed attitude consensus problem.
Keywords：multiple rigid bodiesattitude consensusjointly connected topologiestime-varying delayLyapunov function
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 1162-1170 )