空间多刚体系统姿态的协同控制

将一种针对多个一般非线性系统的基于输出反馈的协同控制方法应用在采用四元数法描述的空间多个刚体姿态的协同控制系统中去，给出了空间多刚体系统姿态协同控制问题有解的充分条件，并设计了多刚体系统姿态的协同控制律．算例仿真结果表明，此法设计的协同控制器能够稳定控制描述各个刚体系统的姿态四元数，使其渐近稳定．

Cooperative Control of Attitudes for Multiple Rigid Body Systems

A cooperative control method based on output feedback for multiple nonlinear systems is applied to cooperatively control the attitude of a multiple rigid body system where quaternion is used to describe the attitude of every rigid body in the whole system. The sufficient conditions for the solvability of the cooperative control problem of multiple rigid body systems are presented. The cooperative control law for multiple rigid body systems is designed. Numerical results show the attitude quaternion of every rigid body can be controlled to convergently approach its stable value.