Distributed event-triggered cooperative attitude control of multiple groups of rigid bodies on manifold SO(3)

In this note, the distributed event-triggered cooperative attitude control of multiple groups of rigid bodies evolved on nonlinear manifold SO(3) is investigated. The distributed event triggered mechanism is introduced into the controller design to reduce the communication pressure. It is verified that, the orientations of rigid bodies in each group converge to a common value with zero angular velocities, and these common values in all groups achieve an anti-consensus configuration under the proposed intra- and inter-group cooperative control law. Simulation results show the effectiveness of the proposed method. (C) 2016 Elsevier Inc. All rights reserved.