Cooperative Attitude Control of Multiple Rigid Bodies with Multiple Time-Varying Delays and Dynamically Changing Topologies

Abstract EN

Cooperative attitude regulation and tracking problems are discussed in the presence of multiple time-varying communication delays and dynamically changing topologies.

In the case of cooperative attitude regulation, we propose conditions to guarantee the stability of the closed-loop system when there exist multiple time-varying communication delays.

In the case of cooperative attitude tracking, the result of uniformly ultimate boundedness of the closed-loop system is obtained when there exist both multiple time-varying communication delays and dynamically changing topologies.

Simulation results are presented to validate the effectiveness of these conclusions.