On Attitude Synchronization of Multiple Rigid Bodies with Time Delays

Abstract This paper investigates the attitude synchronization problem under communication time delays. The encountered difficulty in synchronizing rigid body attitudes is non-convexity of the rotation group. Through exploiting the geometrical structure of the rigid body attitude kinematics, we propose a PD-like synchronization control law. Using Lyapunov stability analysis, it is shown that the attitude synchronization errors converge asymptotically to zero, and that the proposed controller achieves robust stability for communication time delays. Simulation results are presented to show the performance of the proposed synchronization control algorithm.

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