Rigid-Body Attitude Control, Synchronization, and Bipartite Consensus Using Feedback Reshaping
S. Mathavaraj, Eric A. Butcher
Abstract
Improved attitude control laws based on a feedback reshaping strategy using rotation matrices are proposed for attitude control of a single rigid body on [Formula: see text] and for multibody attitude synchronization on [Formula: see text]. For attitude control of a single body the proposed control law improves the closed-loop response for initial principal rotation angles near 180° while producing a globally continuous control torque. For the problem of multibody attitude synchronization, an alternative feedback reshaping strategy is proposed, which destabilizes nonconsensus equilibria and produces attitude synchronization with almost global stability and globally continuous control. Finally, a previously proposed bipartite consensus algorithm based on the concept of a structurally balanced graph with antagonistic interactions represented by negative edge weights is applied for the first time to rigid-body attitude consensus control with feedback reshaping in which the consensus attitudes and angular velocities are divided into two distinct groups. Simulations serve as illustrative examples of each of these problems and confirm the advantages of the proposed strategies. For multibody synchronization the focus is on ring graph topologies for which locally stable nonconsensus equilibria arise when using an existing attitude consensus control protocol in the literature.