Robust Global Distributed Attitude Control For Multiple Rigid Bodies Using A Hybrid Controller

This work proposes a distributed attitude synchronisation control for an undirected connected network of agents that robustly globally asymptotically stabilises the synchronised state. The strategy uses a quaternion representation of the attitude and hysteretic hybrid feedback with one binary logic variable for each agent to solve the problems arisen when purely continuous or memoryless discontinuous state-feedback laws are employed, such as the unwinding phenomenon and sensitivity to chattering. Compared to the scenario of a single rigid-body, for the strategy employed, the multiple rigid bodies scenario, a stronger requirement on the hysteresis half-width is necessary. Simulation results show the performance of the proposed controller in a six-agent scenario in contrast with another controller reported in the literature using a non-hybrid continuous feedback law.