Rigid body attitude synchronization with communication delays

Abdelkader Abdessameud, Abdelhamid Tayebi, Ilia G. Polushin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


The paper addresses the cooperative attitude synchronization problem of multiple rigid bodies in the presence of communication delays and without angular velocity measurements. First, we present a solution to the leaderless and leader-follower problems in the case of time-varying communication delays and undirected communication topology. Next, we present an attitude synchronization scheme for the leaderless problem, under a directed graph topology, in the presence of constant communication delays. To demonstrate the effectiveness of the proposed control schemes, simulation results of a scenario of four rigid bodies are provided.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781457710957
StatePublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

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


Other2012 American Control Conference, ACC 2012
CityMontreal, QC

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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