Finite-time Attitude Consensus Control of a Multi-Agent Rigid Body System

Mohammad Maadani, Eric A. Butcher, Amit K. Sanyal

Research output: Chapter in Book/Entry/PoemConference contribution

8 Scopus citations


In this paper, finite-time attitude consensus control laws for multi-agent rigid body systems are presented using rotation matrices. The control objective is to stabilize the relative configurations in a finite convergence time. First, the control design is done on the kinematic level where the angular velocities are the control signals. Next, the design is conducted on the dynamic level in the framework of the tangent bundle TSO(3) associated with SO(3), where the torques implement the feedback control of relative attitudes and angular velocities. The Lyapunov-based almost global finite-time stability of the consensus subspace is demonstrated for both cases. Finally, numerical simulations are provided to verify the effectiveness of the proposed consensus control algorithms.

Original languageEnglish (US)
Title of host publication2020 American Control Conference, ACC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538682661
StatePublished - Jul 2020
Externally publishedYes
Event2020 American Control Conference, ACC 2020 - Denver, United States
Duration: Jul 1 2020Jul 3 2020

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2020 American Control Conference, ACC 2020
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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