Decentralized attitude synchronization tracking control for multiple spacecraft under directed communication topology |
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Institution: | 1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;2. Science and Technology on Information System Engineering Laboratory, Nanjing 210016, China;3. Jiangxi Ship Sailing Instrument Co. Ltd, Jiujiang 332008, China;4. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China |
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Abstract: | This paper studies the attitude synchronization tracking control of spacecraft formation flying with a directed communication topology and presents three different controllers. By introduc-ing a novel error variable associated with rotation matrix, a decentralized attitude synchronization controller, which could obtain almost global asymptotical stability of the closed-loop system, is developed. Then, considering model uncertainties and unknown external disturbances, we propose a robust adaptive attitude synchronization controller by designing adaptive laws to estimate the unknown parameters. After that, the third controller is proposed by extending this method to the case of time-varying communication delays via Lyapunov–Krasovskii analysis. The distinctive feature of this work is to address attitude coordinated control with model uncertainties, unknown disturbances and time-varying delays in a decentralized framework, with a strongly connected direc-ted information flow. It is shown that tracking and synchronization of an arbitrary desired attitude can be achieved when the stability condition is satisfied. Simulation results are provided to demon-strate the effectiveness of the proposed control schemes. |
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Keywords: | Attitude synchronization Directed topology Lyapunov stability Spacecraft formation Time delays |
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