Consensus on SO(3) with piecewise-continuous sinusoids

Roshan A. Chavan, Shaoqian Wang, T. Michael Seigler, Jesse B. Hoagg

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


We present and analyze feedback control algorithms for multi-agent orientation consensus on SO(3), where each agent's angular-velocity control is restricted to be a piecewise-continuous sinusoid. The main results are three algorithms for orientation consensus using piecewise-continuous sinusoidal controls. Each algorithm can either include or not include a leader, which can be either stationary or rotating. The first algorithm achieves almost global orientation consensus for the case where each agent uses absolute-orientation feedback of its neighbor agents. The second algorithm achieves local orientation consensus for the case where each agent uses relative-orientation feedback of its neighbor agents. The third algorithm achieves local reduced-orientation (i.e., pointing-direction) consensus for the case where each agent uses pointing-direction feedback of its neighbor agents. We also present numerical simulations to demonstrate these algorithms.

Original languageEnglish
Article number109262
StatePublished - Dec 2020

Bibliographical note

Funding Information:
This work is supported in part by the National Aeronautics and Space Administration, USA ( 80NSSC17M0040 ) and the National Science Foundation, USA ( CMMI-1538782 ). The material in this paper was partially presented at the 2018 American Control Conference, June 27–29, 2018, Milwaukee, WI, USA. This paper was recommended for publication in revised form by Associate Editor Claudio De Persis under the direction of Editor Christos G. Cassandras.

Publisher Copyright:
© 2020 Elsevier Ltd

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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