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This paper addresses the leader-following attitude consensus problem for agroup of spacecraft when at least one follower can access the leader's attitudeand velocity relative to the inertial space. A nonlinear distributed observeris designed to estimate the leader's states for each follower. The observerpossesses one important and novel feature of keeping attitude and angularvelocity estimation errors on second-order sliding modes, and thus providesfinite-time convergent estimates for each follower. Further, quaternion-basedhybrid homogeneous controllers recently developed for single spacecraft areextended and then applied, by establishing a separation principle with theproposed observer, to track the leader's attitude motion. As a result, globalfinite-time attitude consensus is achieved on the entire attitude manifold,with either full-state measurements or attitude-only measurements, as long asthe network topology among the followers is undirected and connected. Numericalsimulations are presented to demonstrate the performance of the proposedmethods.

Global Finite-Time Attitude Consensus of Leader-Following Spacecraft Systems Based on Distributed Observers