Robust global distributed attitude control for multiple rigid bodies using a hybrid controller

Paulo P. M. Magro, Hugo Tadashi M. Kussaba and João Yoshiyuki Ishihara

International Journal of Systems Science, 2020, vol. 51, issue 7, 1229-1242

Abstract: This work proposes a distributed attitude synchronisation control for an undirected connected network of agents that robustly globally asymptotically stabilises the synchronised state. The strategy uses a quaternion representation of the attitude and hysteretic hybrid feedback with one binary logic variable for each agent to solve the problems arisen when purely continuous or memoryless discontinuous state-feedback laws are employed, such as the unwinding phenomenon and sensitivity to chattering. Compared to the scenario of a single rigid-body, for the strategy employed, the multiple rigid bodies scenario, a stronger requirement on the hysteresis half-width is necessary. Simulation results show the performance of the proposed controller in a six-agent scenario in contrast with another controller reported in the literature using a non-hybrid continuous feedback law.

Date: 2020
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DOI: 10.1080/00207721.2020.1758232

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