Distributed observer-based leader-follower attitude consensus control for multiple rigid bodies using rotation matrices

摘要

This paper addresses the distributed observer-based leader-follower attitude consensus control problem for multiple rigid bodies. An intrinsic distributed observer is proposed for each follower to estimate the leader's trajectory, which is only available to a subset of followers. The proposed observer can guarantee that the estimated attitude evolves on rotation matrices all the time, and it provides us with a simple way to design the attitude consensus control law. The dynamics of rigid bodies and distributed observer are both modeled directly on rotation matrices, so that the singularity and ambiguity can be avoided. Furthermore, adopting the idea of disturbance observer on vector space, a gyro bias observer on the rotation matrices is proposed. Based on the distributed observer, three types of attitude consensus control law are proposed, which are respectively on the basis of full-state, biased angular velocity, and external disturbance combined with biased angular velocity. Finally, the SimMechanics experiments are provided to illustrate effectiveness of the proposed theoretical results.