The Specified Finite-Time Distributed Observers-Based Velocity-Free Attitude Synchronization for Rigid Bodies on SO(3)

摘要

In this paper, the problems of specified finite-time distributed attitude estimation and velocity-free attitude synchronization are studied for rigid bodies on special orthogonal group SO(3). Using the geometric convexity on SO(3), the exponential distributed observers are proposed for each rigid body to estimate the common time-varying reference states which are only available to a part of followers. Then, the specified finite-time distributed observers are proposed by using the time-rescaling approach, where the finite terminal time can be specified in advance according to the task requirements. The advantage of time-rescaling method is that the asymptotic, exponential, or finite-time distributed observers can be converted to the specified finite-time distributed observers via choosing an appropriate continuously differentiable scaling function that satisfies some required properties to rescale time. Based on the distributed observers, the velocity-free attitude synchronization control torques are designed by virtue of observer-like systems. The performances of the specified finite-time distributed observers and the velocity-free attitude synchronization with distributed observers are illustrated through numerical/SimMechanics simulations.