Consensus for Multi-agent Systems in the Presence of Attitude Constraint *

This paper investigates consensus problem for a class of multi-agent systems with external disturbance in presence of convex attitude constraints. An adaptive law is proposed to approximate the disturbance, where an auxiliary system is introduced to force the attitude states of the agents to stay in the permission set. The auxiliary system is formed by utilizing a logarithmic barrier potential function. It is assumed that each agent has access to both attitude parameters and auxiliary system outputs of its neighbors. Finally, based on Lyapunov approach and Barbalat’s Lemma, it is proved that the agents can reach consensus to the desired value asymptotically while not to violate the attitude constrained zone. Also, simulation results for tethered space net robot are performed to illustrate the effectiveness of the designed control strategy.