Attitude Consensus of Multi-Agent Uncertain Rigid Bodies in Presence of Disturbances and Time-Delays

The article presents a method for decentralized at-titude consensus of multi-agent rigid bodies in presence of both external disturbances as well as communication time-delays. To handle unknown but bounded disturbances an extended state observer (ESO) has been proposed on
$TSO (3)$
, the estimate of which is feedback to the controller which guarantees that the attitude consensus is achieved with bounded error. It is also assumed that time-delays exist in transmission of states. To prove the stability of time-delayed feedback system, Lyapunov Razumikhin theorem is used. Simulation results have been given to demonstrate the effectiveness of the proposed approach in presence of time-varying disturbances and communication time-delays. Comparison result are also given with the scenario when ESO is not used.