Consensus Algorithms for Rigid Body Attitude Dynamics

Abstract

This chapter considers consensus algorithms for rigid body attitude dynamics. We propose algorithms for attitude consensus among multiple rigid bodies for three different cases. In the first case, multiple rigid bodies align their attitudes with zero final angular velocities. In the second case, multiple rigid bodies converge to a constant reference attitude while aligning their attitudes during the transition with zero final angular velocities without the requirement for absolute and relative angular velocity measurements. In the third case, multiple rigid bodies converge to the same angular velocity while aligning their attitudes during the transition. Simulation results for attitude consensus among six rigid bodies demonstrate the effectiveness of the algorithms.