Rigid Body Attitude Cluster Consensus Control on Weighted Cooperative-Competitive Networks

In this paper, the cluster consensus control of rigid body attitude for a multi-agent system on networks represented by directed graphs with weighted cooperative and competitive interactions is studied. Using an absolute Laplacian feedback scheme, Lyapunov-based stability guarantees are obtained for the cases of strongly connected interactively balanced and interactively sub-balanced communication graphs. Both rotation matrices on
$\text{SO}(3)^{N}$
and exponential coordinates are used, while the proposed controllers are at the kinematic level.