Abstract
In this paper, an attitude synchronization problem of multiple rigid-body systems is investigated by using an event-based approach. The leader and followers are described by unit quaternions. A nonlinear distributed observer with event-triggered observations is proposed to estimate the attitude and angular velocity of the leader without continuous information exchange. The triggering mechanism is intermittent and asynchronous; and a positive lower bound of inter-event triggering times is given to show that Zeno behavior can be excluded in the intermittent communication sequence for any agent. Based on the estimated attitude and angular velocity of the leader, a distributed controller is synthesized for each follower to achieve attitude synchronization with the leader via intermittent communication. Finally, an example is provided to illustrate the effectiveness of the theoretical results.
| Original language | English |
|---|---|
| Article number | 104879 |
| Number of pages | 8 |
| Journal | Systems and Control Letters |
| Volume | 149 |
| Early online date | 11 Feb 2021 |
| DOIs | |
| Publication status | Published - Mar 2021 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2021 Elsevier B.V.
Funding
This work was supported by University of Alberta (RES0049729), University of Alberta, NSERC, Canada, and an Alberta EDT Major Innovation Fund, Canada.
Keywords
- Distributed observers
- Event-triggered systems
- Intermittent communication
- Multiple rigid-body systems