Mathematical Problems in Engineering
Volume 2010 (2010), Article ID 621594, 19 pages
doi:10.1155/2010/621594
Research Article

Cooperative Attitude Control of Multiple Rigid Bodies with Multiple Time-Varying Delays and Dynamically Changing Topologies

Ziyang Meng,1 Zheng You,2 Guanhua Li,1 and Chunshi Fan1

1Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China
2State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China

Received 2 January 2010; Revised 20 April 2010; Accepted 1 June 2010

Academic Editor: Tamas Kalmar-Nagy

Copyright © 2010 Ziyang Meng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Cooperative attitude regulation and tracking problems are discussed in the presence of multiple time-varying communication delays and dynamically changing topologies. In the case of cooperative attitude regulation, we propose conditions to guarantee the stability of the closed-loop system when there exist multiple time-varying communication delays. In the case of cooperative attitude tracking, the result of uniformly ultimate boundedness of the closed-loop system is obtained when there exist both multiple time-varying communication delays and dynamically changing topologies. Simulation results are presented to validate the effectiveness of these conclusions.