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.

中文翻译：

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使用混合控制器对多刚体进行鲁棒全局分布式姿态控制

摘要这项工作提出了一种分布式姿态同步控制，用于代理的无向连接网络，该网络稳健地全局渐近地稳定同步状态。该策略使用姿态和滞后混合反馈的四元数表示，每个代理都有一个二元逻辑变量，以解决在采用纯连续或无记忆的不连续状态反馈定律时出现的问题，例如展开现象和对颤动的敏感性。与单刚体的场景相比，对于所采用的策略，多刚体场景，对滞后半宽的要求更高。