Distributed event-triggered cooperative attitude control of multiple groups of rigid bodies on manifold SO(3)

In this note, the distributed event-triggered cooperative attitude control of multiple groups of rigid bodies evolved on nonlinear manifold SO(3) is investigated. The distributed event-triggered mechanism is introduced into the controller design to reduce the communication pressure. It is verified that, the orientations of rigid bodies in each group converge to a common value with zero angular velocities, and these common values in all groups achieve an anti-consensus configuration under the proposed intra- and inter-group cooperative control law. Simulation results show the effectiveness of the proposed method.