Attitude Synchronization for Multiple Rigid Bodies with Time Delays

Abstract

In this paper we consider distributed attitude synchronization problem for multiple rigid bodies with time delays in the intercommunication. Based on graph theory and Lyapunov stability theory, we propose two distributed control laws. The first control law can guarantee attitude synchronization with zero final angular velocities when time delays exist. The second control law can guarantee attitude synchronization with non-zero final angular velocities when time delays exist. Throughout the paper, the communication flow among rigid bodies is assumed to be fixed and undirected.