Leader‐Following Consensus of Multiple Uncertain Rigid Body Systems by a Sampled‐Data Adaptive Distributed Observer

Abstract

ABSTRACTIn this paper, we study the leader‐following attitude consensus problem for multiple uncertain rigid body systems by a sampled‐data adaptive distributed observer. Unlike the existing sampled‐data distributed observer, which can only asymptotically estimate the state of the leader, the sampled‐data adaptive distributed observer can estimate both the state and the system matrix of the leader exponentially. We synthesize a distributed control law utilizing sampled‐data communications to solve the leader‐following attitude consensus problem for multiple uncertain rigid body systems based on the sampled‐data adaptive distributed observer. Moreover, we present a sufficient condition for guaranteeing the convergence of the estimated unknown parameters to their true values. Compared with a distributed control law that uses continuous‐time communications, the distributed control law utilizing sampled‐data communications consumes fewer communication resources and is more robust to communication failures. The effectiveness of our approach is verified by a numerical example.