Attitude synchronization control for multi-agent systems on unit quaternions

Pieter Van Goor, Zhiyong Sun, Changbin Brad Yu

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    1 Citation (Scopus)


    This paper discusses an attitude synchronization problem for multi-agent systems in 3-D spaces and proposes a synchronization control law based on the quaternion representation of 3D rotations. The proposed control strategy takes advantage of the geometry of the unit quaternion space and synchronizes agents to have representative quaternions that map to the same physical 3D rotation. Each agent's attitude state is represented by a unit quaternion, and the attitude synchronization law ensures the states remain in the unit quaternion space. We show that this control law is stable for the desired equilibrium using a Lyapunov approach, and provide a simulation of nine agents interacting in an undirected graph to justify our results. We also provide a detailed analysis of the two-agent system to provide intuition behind the control law's operation.

    Original languageEnglish
    Title of host publication2017 Asian Control Conference, ASCC 2017
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Number of pages6
    ISBN (Electronic)9781509015733
    Publication statusPublished - 7 Feb 2018
    Event2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia
    Duration: 17 Dec 201720 Dec 2017

    Publication series

    Name2017 Asian Control Conference, ASCC 2017


    Conference2017 11th Asian Control Conference, ASCC 2017
    CityGold Coast


    Dive into the research topics of 'Attitude synchronization control for multi-agent systems on unit quaternions'. Together they form a unique fingerprint.

    Cite this