Distributed event-triggered cooperative attitude control of multiple rigid bodies with leader–follower architecture

Abstract

In this note, the distributed event-triggered cooperative attitude control of multiple rigid bodies with leader–follower architecture is investigated, where both the cases of static and dynamic leaders are all considered. Two distributed triggering procedures are first introduced for the followers and leaders, and then the distributed cooperative controllers are designed under the proposed triggering schemes. Under the designed controllers with the event-triggered strategies, it is shown that the orientations of followers converge to the convex hull formed by the desired leaders’ orientations with zero angular velocities. Moreover, the communication pressure in network is reduced and the energy of each agent is saved. Simulation results show the effectiveness of the proposed method.

Keywords:

• attitude control
• distributed algorithms
• event triggering
• rigid body

Additional information

Notes on contributors

Shengxuan Weng

Shengxuan Weng was born in Hubei Province, China, in 1987. He received the BS degree in applied mathematics from Huazhong University of Science and Technology, Wuhan, China, in 2009. He is currently working towards the PhD degree in control science and engineering at Huazhong University of Science and Technology. His research interests include nonlinear systems, cooperative control of multi-agent systems and geometric control of mechanical systems.

Dong Yue

Dong Yue received the PhD degree from the South China University of Technology, Guangzhou, China, in 1995. From 1995 to 1997, he was a postdoctoral research fellow with the China University of Mining and Technology, Beijing, China, where he was appointed as a professor in 2000. Dr Yue is an associate editor of the IEEE Control Systems Society Conference Editorial Board. He is currently a reviewer for more than 20 international journals or conferences, such as the IEEE Transactions on Automatic Control, Automatica, the IEEE Transactions on Signal Processing, etc. Until now, he has published more than 100 papers in international journals, domestic journals and international conferences. He was also the recipient of several awards from the Chinese government. His research interests include analysis and synthesis of networked control systems, time-delay systems and robust control design.