Global Attitude Synchronization for Networked Rigid Bodies Under Directed Topologies

This paper is devoted to dealing with global attitude synchronization problems for networked rigid bodies subjected directed topologies and arbitrary initial orientations. To avoid the asynchronous pitfall where only vector parts of reach agreement on some identical value but scalar do not, multiplicative quaternion errors are incorporated develop protocols absolute measurements. It shown that achieved if topology quasi-strongly connected. Simultaneously, a novel double-energy-function analysis method, equipped an ordering permutation technique coordinate transformation mechanism, constructed behavior bodies. In particular, works well our regardless highly nonlinear strongly coupling resulting from errors, which seriously hinder traditional Simulations spacecraft presented validate performances under different topologies.