Rigid-body attitude synchronization with communication delays

Abdelkader Abdessameud, Abdelhamid Tayebi

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Scopus citations


This chapter focuses on the attitude synchronization problem of multiple rigid-body systems in the presence of communication delays. First, attitude synchronization schemes relying on the availability of the full state vector are presented. In particular, solutions to the leaderless/leader-follower attitude synchronization and the cooperative attitude tracking problems are proposed in the case of time-varying communication delays and undirected communication topology. Then, a virtual systems based approach is proposed to design synchronization schemes that solve the above problems and remove the requirement of angular velocity measurements. It is shown that this virtual-systems-based approach can be used to handle constant communication delays under a directed communication topology.

Original languageEnglish (US)
Title of host publicationAdvances in Industrial Control
PublisherSpringer International Publishing
Number of pages22
StatePublished - 2013

Publication series

NameAdvances in Industrial Control
ISSN (Print)1430-9491
ISSN (Electronic)2193-1577

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Automotive Engineering
  • Aerospace Engineering
  • Industrial and Manufacturing Engineering


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