Event-triggered attitude consensus with absolute and relative attitude measurements

Abstract

In this paper, we consider the event-triggered attitude consensus of multiple rigid-body systems. Two event-triggered attitude consensus protocols are designed under the absolute attitude and relative attitude measurement, respectively. For the first case, the gnomonic projection is utilized to project the attitude to the Euclidean plane almost globally. Then, a distributed attitude consensus protocol based on the projections is proposed under the event-triggered mechanism. By using the proposed protocol and event-triggered condition (ETC), the almost global attitude consensus is achieved on a positively invariant set. Next, in order to remove the requirement of the absolute attitude information, we propose an event-triggered attitude protocol with relative attitude measurements. The Riemannian gradient descent approach is utilized to design the attitude consensus protocol on a geodesically convex set of attitude configuration space. Moreover, to overcome the continuous monitoring in the event-detection, a self-triggered strategy is presented based on the event-triggered protocol only with the relative attitude measurement. Finally, simulation studies are conducted to verify the effectiveness of the proposed protocols.