Distributed attitude synchronization for multiple rigid bodies subject to input saturation

Abstract

Attitude synchronization problem for multiple rigid bodies subject to input saturation is studied in this paper. By introducing a bounded function, a distributed attitude control algorithm is designed for multiple rigid bodies in the presence of input saturation under a directed topology. With Lyapunov theory and algebraic graph theory, rigorous proof of global asymptotical stability of closed-loop system is given. Then, based on finite-time control technology, a distributed attitude control algorithm for multiple rigid bodies is proposed to guarantee global finite-time stability of closed-loop system, and which satisfies the requirement of input saturation. At the end, numerical simulations are given and the results verify the feasibility and effectiveness of the proposed control algorithm.