Leader-following attitude consensus for multi-rigid-body systems with time-varying communication delays and jointly connected topologies

Abstract

In this paper, we study the leader-following attitude consensus problem for multi-rigid-body systems under jointly connected topologies coupled with time-varying communication delays. By associating an auxiliary vector for each follower, the control algorithm is designed, and the stability of the whole system is proved by using Lyapunov Krasovskii function and contradiction method. In terms of linear matrix inequalities, we derive sufficient conditions that guarantee all followers asymptotically converge to the leader.