Rigid-Body Attitude Synchronization with Communication Delays

  • Abdelkader Abdessameud
  • Abdelhamid Tayebi
Part of the Advances in Industrial Control book series (AIC)


This chapter focuses on the attitude synchronization problem of multiple rigid-body systems in the presence of communication delays. First, attitude synchronization schemes relying on the availability of the full state vector are presented. In particular, solutions to the leaderless/leader-follower attitude synchronization and the cooperative attitude tracking problems are proposed in the case of time-varying communication delays and undirected communication topology. Then, a virtual systems based approach is proposed to design synchronization schemes that solve the above problems and remove the requirement of angular velocity measurements. It is shown that this virtual-systems-based approach can be used to handle constant communication delays under a directed communication topology.


Angular Velocity Communication Delay Communication Graph Unit Quaternion Vector Part 
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Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  • Abdelkader Abdessameud
    • 1
  • Abdelhamid Tayebi
    • 2
  1. 1.Dept of Electr. & Computer EngineeringThe University of Western OntarioLondonCanada
  2. 2.Department of Electrical EngineeringLakehead UniversityThunder BayCanada

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