{'fraction_non_alphanumeric': 0.008888888888888889, 'fraction_numerical': 0.0, 'mean_word_length': 6.11578947368421, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
A constrained dynamical systems approach for attitude consensus of multiple rigid bodies

This paper presents a constrained dynamical systems based attitude synchronization and tracking for multiple rigid bodies. The attitude dynamics of multiple vehicles are coupled via explicit constraint functions that mirror a priori communication topologies. Additional constraint functions are imposed to achieve specific consensus and formation objectives. The constraint stabilization is achieved via a modified Baum-garte stabilization method that includes an integral term. The performance of these constrained dynamics based formations is evaluated for bounded control authority.