Quaternion-Based Attitude Synchronization With an Event-Based Communication Strategy

Abstract

This paper designs an event-triggering based communication strategy for the global attitude synchronization of a network of rigid bodies. To overcome the topological constraint on the manifold <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$SO(3)$ </tex-math></inline-formula> , the quaternion-based hybrid control strategy is designed using a binary logic variable, relying on the relative measurements of adjacent rigid bodies, to determine the torque orientation. The Zeno-free distributed event-triggering strategies (ETSs) are designed combining with the reset of the binary logic variable to generate discrete communication instants, where only the corresponding parts of the control inputs are updated at those discrete instants. By assuming perfect knowledge of the rigid bodies’ dynamics and considering uncertainties and/or exogenous disturbances simultaneously, nominal and robust cases are analyzed to ensure the global attitude synchronization, respectively. The effectiveness of the main results is demonstrated by considering the attitude synchronization of six miniature quadrotor prototypes.