A Leader-Follower Approach for The Attitude Synchronization of Multiple Rigid Body Systems on $SO(3)$

摘要

This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on $SO(3)$ under an undirected, connected, and acyclic graph communication topology. The proposed distributed control strategy, endowed with almost global asymptotic stability guarantees, allows the synchronization of the rigid body systems to a constant desired orientation known only to a single rigid body. Some simulation results are also provided to validate the theoretical developments and illustrate the performance of the proposed control strategy.