Coordinated attitude motion control of multiple rigid bodies on manifold SO (3)

• DOI: 10.1049/iet-cta.2013.0236
• Publication Date: 2013-09-21T21:38:40Z
• Authors: Shengxuan Weng; Dong Yue; Taicheng Yang
• Keywords: Manifold (fluid mechanics); Stability theory

As a special case of consensus on non-linear spaces, in this study coordinated attitude motion control for group rigid bodies is investigated second-order systems Lie SO (3). By introducing an auxiliary variable each body, the distributed controllers are designed so that left-invariant coordination asymptotically achieved and total at least locally achieved. Simulation results multi-agent system consist four show effectiveness proposed design.