In this paper, we consider the event-triggered attitude consensus of multiple rigid-body systems. Two event-triggered attitude consensus protocols are designed under the absolute attitude and relative attitude measurement, respectively. For the first case, the gnomonic projection is utilized to project the attitude to the Euclidean plane almost globally. Then, a distributed attitude consensus protocol based on the projections is proposed under the event-triggered mechanism. By using the proposed protocol and event-triggered condition (ETC), the almost global attitude consensus is achieved on a positively invariant set. Next, in order to remove the requirement of the absolute attitude information, we propose an event-triggered attitude protocol with relative attitude measurements. The Riemannian gradient descent approach is utilized to design the attitude consensus protocol on a geodesically convex set of attitude configuration space. Moreover, to overcome the continuous monitoring in the event-detection, a self-triggered strategy is presented based on the event-triggered protocol only with the relative attitude measurement. Finally, simulation studies are conducted to verify the effectiveness of the proposed protocols.

在本文中，我们考虑了多个刚体系统的事件触发态度共识。分别在绝对姿态和相对姿态测量下设计了两种事件触发的姿态共识协议。对于第一种情况，使用了gnomonic投影来几乎全局地将姿态投影到Euclidean平面上。然后，在事件触发机制下，提出了一种基于投影的分布式姿态共识协议。通过使用建议的协议和事件触发条件（ETC），可以在正不变集上实现几乎全局的态度共识。接下来，为了消除对绝对姿态信息的要求，我们提出了一种带有相对姿态测量的事件触发姿态协议。利用黎曼梯度下降法在姿态配置空间的大地上凸集上设计姿态共识协议。此外，为了克服事件检测中的连续监视，提出了一种仅基于相对姿态测量的基于事件触发协议的自触发策略。最后，进行仿真研究以验证所提出协议的有效性。