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In this paper, we study the exponential attitude tracking and disturbance rejection problem of rigid body systems. We design a control law for the rigid body system that ensures the exponential convergence of the attitude tracking error and the angular velocity tracking error in the presence of unknown external disturbances. Furthermore, by tuning some design parameters, the exponential convergence rate can be made arbitrarily fast. The effectiveness of our approach is validated by a numerical example. [ABSTRACT FROM AUTHOR]

In this paper, we study the leader-following attitude consensus problem of multiple rigid body systems by a sampled-data distributed observer. Comparing with the continuous-time distributed observer, the sampled-data distributed observer consumes fewer communication resources and is less vulnerable to such communication failures as network congestions and packet dropouts. The sampled-data distributed observer consists of two parts. The first part is a sampled-data distributed observer for the angular velocity leader subsystem and the second part is a sampled-data distributed observer for the attitude leader subsystem. It is noted that, since the attitude leader subsystem is nonlinear, a special effort has to be made to establish the sampled-data distributed observer for the attitude leader subsystem. Moreover, we give an explicit upper bound for the sampling intervals to guarantee the validity of the sampled-data distributed observer. On the basis of the sampled-data distributed observer, we further synthesize a distributed control law to solve the leader-following consensus problem. The effectiveness of our approach is illustrated by a numerical example. [ABSTRACT FROM AUTHOR]