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Event-triggered finite-time attitude consensus control of multiple rigid-body systems based on distributed observers

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Abstract

The problem of leader-following attitude consensus for multiple rigid-body systems is addressed for communication limitation in this paper. The leader and followers are described in unit quaternions forms. For each follower, a nonlinear finite-time distributed observer is proposed to estimate the states of the leader, and the event-triggered finite-time sliding mode controllers are constructed by using the estimation information to decrease the system’s communication and computation consumption. The result demonstrates that in a finite time, the attitude tracking error can converge to an invariant set, and the communication interaction is decreased by the proposed event-triggered-based controller. Moreover, Zeno behavior is rigorously proved to be excluded, and the lower bound of the triggered time interval is provided. Finally, a numerical simulation is provided to validate the efficiency of the proposed control protocol.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grant No. 62273159 and the Program for HUST Academic Frontier Youth Team under Grant No. 2018QYTD07.

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  1. Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Luoyu Road 1037, Wuhan, 430074, China

    Hongtao Zhou, Kangting Sun & Housheng Su

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Zhou, H., Sun, K. & Su, H. Event-triggered finite-time attitude consensus control of multiple rigid-body systems based on distributed observers. Neural Comput & Applic 35, 20977–20988 (2023). https://doi.org/10.1007/s00521-023-08880-8

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