Formation Control and Attitude Cooperative Control of Multiple Rigid Body Systems

A cooperative control law based on output feedback is present for a multiple nonlinear system. The given cooperative control law is applied to control the formation of a multiple rigid body system, and at the same time to cooperative control the attitude of a multiple rigid body system where quaternion is used to describe the attitude of every rigid body subsystem in the whole system. The sufficient conditions for the solvability of the formation control and the attitude cooperative control problem of a multiple rigid body system are discussed. The synthetic control laws to control the formation and cooperative control the attitudes of a multiple rigid body system are designed. Numerical simulation proves the validity of the proposed formation control and cooperative control laws, and the simulation results show that the proposed control laws can not only make the multiple rigid body keep a certain formation, but also can stably control the attitude quaternion of every rigid body