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Almost global attitude consensus of multi-agent rigid bodies on \(\mathrm{TSO}(3)^N\) in the presence of disturbances and directed topology

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Abstract

The article proposes a distributed attitude consensus algorithm for multi-agent rigid bodies on the tangent bundle \(\mathrm{TSO}(3)^N\). It is assumed that a directed fixed communication topology exists between the agents. We propose two control algorithms for attitude consensus in the presence of reference time varying attitude. In the first case, we assume that the reference attitude is available to each of the agents, while in the second case we assume that the reference attitude is available to only a subset of the agents. The attitude of the agents is represented using rotation matrices to avoid singularities and ambiguities associated with other attitude representations such as Euler angles or quaternions. The consensus algorithm is derived in the presence of bounded external disturbances affecting each of the agents.

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  1. Research Scholar in the Department of Electronics and Electrical Engineering, Indian Institute of Technology, Guwahati, 781039, India

    Manmohan Sharma

  2. Faculty of Department of Electronics and Electrical Engineering, Indian Institute of Technology, Guwahati, 781039, India

    Indrani Kar

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  1. Manmohan Sharma
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  2. Indrani Kar
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Correspondence to Manmohan Sharma.

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Sharma, M., Kar, I. Almost global attitude consensus of multi-agent rigid bodies on \(\mathrm{TSO}(3)^N\) in the presence of disturbances and directed topology. Nonlinear Dyn 104, 3617–3631 (2021). https://doi.org/10.1007/s11071-021-06446-8

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  • DOI: https://doi.org/10.1007/s11071-021-06446-8

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