Attitude consensus using quaternion-based controller composing augmented dynamic

Nonlinearity of dynamics and kinematics, difficulty in stability guarantee and unwinding phenomenon problem make quaternion-based attitude control system design is a non trivial problem. The non triviality is increase in the design of attitude consensus of rigid bodies in a group. This paper provides a distributed controller that depends on information-state for attitude consensus among a group of rigid bodies. The controller is developed based on continuous quaternion-based attitude controller composing augmented dynamic. The designed attitude consensus has global motion to rest and rest to rest maneuver properties. Simulation run verifies that unwinding phenomenon can be avoided.