A constrained dynamical systems approach for attitude consensus of multiple rigid bodies

This paper presents a constrained dynamical systems based attitude synchronization and tracking for multiple rigid bodies. The attitude dynamics of multiple vehicles are coupled via explicit constraint functions that mirror a priori communication topologies. Additional constraint functions are imposed to achieve specific consensus and formation objectives. The constraint stabilization is achieved via a modified Baum-garte stabilization method that includes an integral term. The performance of these constrained dynamics based formations is evaluated for bounded control authority.