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arXiv · 2603.22773

Distributed Hybrid Feedback for Global Pose Synchronization of Multiple Rigid Body Systems on $SE(3)$

Fengyu Lin·Miaomiao Wang·Housheng Su·Abdelhamid Tayebi
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Abstract

This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using relative pose and group velocity measurements. The key idea consists of constructing a new potential function on $\SE(3) \times \mathbb{R}$ with a generalized non-diagonal weighting matrix, and a set of auxiliary scalar variables with continuous-discrete hybrid dynamics. Based on the new potential function and the auxiliary scalar variables, a geometric distributed hybrid feedback designed directly on $\SE(3)$ is proposed to achieve global pose synchronization. Numerical simulation results are presented to illustrate the performance of the proposed distributed hybrid control scheme.

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Fengyu Lin, Miaomiao Wang, Housheng Su, Abdelhamid Tayebi. 2026-03-24. Distributed Hybrid Feedback for Global Pose Synchronization of Multiple Rigid Body Systems on $SE(3)$. https://arxiv.org/abs/2603.22773

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