Global finite-time distributed attitude synchronization and tracking control of multiple rigid bodies without velocity measurements

This paper considers the global finite-time attitude synchronization and coordinated tracking problems of multiple rigid bodies without angular velocity measurements. First, for the attitude synchronization problem, by combining the hybrid technique and homogeneous theory, a new velocity-free attitude synchronization algorithm is constructed to prevent the unwinding problem and achieve finite-time convergence. In the second place, for the leader-following tracking problem, we firstly propose a nonlinear distributed hybrid observer for each follower such that the leader's information can be estimated accurately. Then, based on the outputs of the distributed observer, we propose a velocity-free distributed attitude tracking algorithm such that the global finite-time attitude tracking objective is achieved. Finally, simulation results are provided to demonstrate the effectiveness of the proposed algorithms. (C) 2021 Elsevier Ltd. All rights reserved.

Automated summary

This paper addresses the global finite-time attitude synchronization and coordinated tracking problems for multiple rigid bodies, proposing novel algorithms to achieve the objectives of attitude synchronization and tracking. Simulation results demonstrate the effectiveness of the proposed algorithms.