Abstract

The paper addresses the cooperative attitude synchronization problem of multiple rigid bodies in the presence of communication delays and without angular velocity measurements. First, we present a solution to the leaderless and leader-follower problems in the case of time-varying communication delays and undirected communication topology. Next, we present an attitude synchronization scheme for the leaderless problem, under a directed graph topology, in the presence of constant communication delays. To demonstrate the effectiveness of the proposed control schemes, simulation results of a scenario of four rigid bodies are provided.

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