Consensus on SO(3) with Piecewise-Continuous Sinusoids

We present feedback control algorithms for multi-agent orientation consensus on SO(3), where each agent's angular-velocity control is restricted to be a piecewise-continuous sinusoid. The main results are two algorithms for orientation consensus. The first algorithm achieves local orientation consensus for the case where each agent uses relative-orientation feedback of its neighbor agents. The second algorithm achieves almost global orientation consensus for the case where each agent uses absolute-orientation feedback of its neighbor agents. We also present numerical simulations to demonstrate these orientation consensus algorithms.

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