Distributed finite-time attitude containment control of multi-rigid-body systems

In this paper, we study the distributed finite-time attitude containment control problem for multi-rigid-body systems with multiple stationary and dynamic leaders under directed graphs. Based upon two sliding mode observation vectors, the input torque is designed to achieve the control goal. In the regulation case, all the followers will converge into the attitude convex hull spanned by the leaders in finite time, while in the dynamic leaders case, not only the attitudes but also the attitude derivatives of the followers will converge into the convex hull of the leaders in finite time. Necessary and sufficient criteria are established for both the two protocols. Finally, all the theoretical results are illustrated by numerical simulations.