Autonomous rigid body attitude synchronization

Alain Sarlette, Rodolphe Sepulchre, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Scopus citations


This paper studies some extensions to the decentralized attitude synchronization of identical rigid bodies. Considering fully actuated Euler equations, the communication links between the rigid bodies are limited and the available information is restricted to relative orientations and angular velocities. In particular, no leader nor external reference dictates the swarm's behavior. The control laws are derived using two classical approaches of nonlinear control - tracking and energy shaping. This leads to a comparison of two corresponding methods which are currently considered for distributed synchronization - consensus and stabilization of mechanical systems with symmetries.

Original languageAmerican English
Title of host publicationProceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)1424414989, 9781424414987
StatePublished - 2007
Event46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
Duration: Dec 12 2007Dec 14 2007

Publication series

NameProceedings of the IEEE Conference on Decision and Control


Conference46th IEEE Conference on Decision and Control 2007, CDC
Country/TerritoryUnited States
CityNew Orleans, LA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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