Cooperative attitude control of multiple rigid bodies with multiple time-varying delays and dynamically changing topologies (Q1958872)

Summary: Cooperative attitude regulation and tracking problems are discussed in the presence of multiple time-varying communication delays and dynamically changing topologies. In the case of cooperative attitude regulation, we propose conditions to guarantee the stability of the closed-loop system when there exist multiple time-varying communication delays. In the case of cooperative attitude tracking, a result of uniformly ultimate boundedness of the closed-loop system is obtained when there exist both multiple time-varying communication delays and dynamically changing topologies. Simulation results are presented to validate the effectiveness of these conclusions.