A Leader-Follower Approach for The Attitude Synchronization of Multiple Rigid Body Systems on $SO(3)$
Systems and Control
2026-01-28 v1 Systems and Control
Abstract
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on under an undirected, connected, and acyclic graph communication topology. The proposed distributed control strategy, endowed with almost global asymptotic stability guarantees, allows the synchronization of the rigid body systems to a constant desired orientation known only to a single rigid body. Some simulation results are also provided to validate the theoretical developments and illustrate the performance of the proposed control strategy.
Keywords
Cite
@article{arxiv.2601.19086,
title = {A Leader-Follower Approach for The Attitude Synchronization of Multiple Rigid Body Systems on $SO(3)$},
author = {Yiliang Li and Jun-e Feng and Abdelhamid Tayebi},
journal= {arXiv preprint arXiv:2601.19086},
year = {2026}
}