Abstract
In this paper, an attitude synchronization problem with velocity-free measurements is investigated for multiple rigid body systems under event-triggered mechanism. To avoid the angular velocities in the control design, an auxiliary system is constructed for the indirect asymptotic estimation of angular velocities, which provides the necessary damping for the closed-loop system. The event-triggered attitude protocol is proposed with a clock-based triggering strategy, and the continuous communication and monitoring requirements among rigid bodies are removed. The convergence of synchronization is analyzed based on a positively invariant set contained in SO(3), which inherently avoids the singularity problem or non-uniqueness issue for the attitude representation. Furthermore, based on an invariant-like principle, we extend the topology graph to a switching topology under an average dwell-time condition. A numerical simulation is conducted to show the effectiveness of the proposed control strategy.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
