This paper considers the global finite-time attitude synchronization and coordinated tracking problems of multiple rigid bodies without angular velocity measurements. First, for the attitude synchronization problem, by combining the hybrid technique and homogeneous theory, a new velocity-free attitude synchronization algorithm is constructed to prevent the unwinding problem and achieve finite-time convergence. In the second place, for the leader-following tracking problem, we firstly propose a nonlinear distributed hybrid observer for each follower such that the leader’s information can be estimated accurately. Then, based on the outputs of the distributed observer, we propose a velocity-free distributed attitude tracking algorithm such that the global finite-time attitude tracking objective is achieved. Finally, simulation results are provided to demonstrate the effectiveness of the proposed algorithms.

本文考虑了多刚体无角速度的全局有限时间姿态同步和协调跟踪问题测量。首先，对于姿态同步问题，结合混合技术和齐次理论，构造了一种新的无速度姿态同步算法，以防止展开问题并实现有限时间收敛。其次，对于领导者跟随跟踪问题，我们首先为每个跟随者提出了一个非线性分布式混合观察器，以便可以准确估计领导者的信息。然后，基于分布式观测器的输出，我们提出了一种无速度分布式姿态跟踪算法，以实现全局有限时间姿态跟踪目标。最后，仿真结果证明了所提出算法的有效性。