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.

本文采用基于事件的方法研究了多个刚体系统的姿态同步问题。领导者和跟随者由单位四元数描述。提出了一种具有事件触发观测值的非线性分布式观测器，以估计领导者的姿态和角速度，而无需进行连续的信息交换。触发机制是间歇性和异步的；并给出事件间触发时间的正下限，以表明可以将Zeno行为排除在任何代理的间歇通信序列中。基于估计的领导者的姿态和角速度，为每个跟随者合成一个分布式控制器，以通过间歇通信与领导者实现姿态同步。最后，