Attitude Synchronization of Rigid Bodies with Event-Triggered Communication

This article addresses the challenge of attitude synchronization a group rigid bodies (considered to be agents) with zero final angular velocity. A collaborative control strategy is proposed tackle this issue, using decentralized consensus within leader-follower scheme, and communication between agents activated by events. The parameterized unit quaternion. law incorporates an event function specifying moment when i-th agent should transmit velocity information its neighbors. topology modeled connected undirected graph. event-triggered produces asynchronous exchange, reducing data traffic without compromising system performance. Furthermore, in practical scenarios such as networks satellites or aerial robots, could reduce use channel bandwidth. Lyapunov method utilized analyze stability overall system. Numerical simulation results confirm proposal’s effectiveness.