Optimal Attitude Consensus Control of Multiple Rigid-Body Systems with Digraphs

This article studies the optimal attitude consensus control for multiple rigid-body systems. A distributed control protocol that guarantees the leaderless consensus of attitude and optimization of global performance index is presented. The presented protocol allows the topology graph to only contain a directed spanning tree, and the assumptions adopted in many existing works are removed. A numerical example is finally reported to illustrate the effectiveness of theoretical work.