Adaptive consensus control of rigid body attitude motion based on rotation matrices

Ahmet Taha Koru, Eric N. Johnson, Mohammad Maadani, Eric A. Butcher, Selahattin Burak Sarsilmaz, Tansel Yucelen

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

2 Scopus citations


In this paper, we focus on the consensus problem in terms of angular velocity and attitude for heterogeneous rigid bodies over a fixed undirected connected graph. The bodies’ inertia matrices are partially or entirely unknown. We formulate the rigid body kinematics in terms of the 3D rotation group SO(3) which is a Lie group. First, we present the decentralized control protocol for N reference rigid bodies whose inertia matrices are the identity matrix. Then, we present a model reference adaptive control algorithm to guarantee that each actual rigid body asymptotically tracks the corresponding reference model; therefore, they can reach consensus as their reference counterparts do. Finally, we demonstrate the efficacy of the proposed method through a numerical example and compare its performance with the nominal controller without adaptation.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2020 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
Number of pages7
ISBN (Print)9781624105951
StatePublished - 2020
EventAIAA Scitech Forum, 2020 - Orlando, United States
Duration: Jan 6 2020Jan 10 2020

Publication series

NameAIAA Scitech 2020 Forum
Volume1 PartF


ConferenceAIAA Scitech Forum, 2020
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Aerospace Engineering


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