输入受限的编队卫星分布式姿态协同控制

研究了跟踪时变参考姿态情况下的编队飞行卫星协同控制问题，提出了一种非线性饱和的分布式协同控制器。在控制器中引入了一个双曲正切函数向量，保证了连续控制输入的有界性。采用Barbalat引理对姿态跟踪情况下闭环协同控制系统的稳定性进行了分析，得出了系统渐近稳定的结论。通过对各种条件下的仿真，验证了算法的有效性，并确立了编队卫星信息流图的拓扑结构和控制器增益等因素与暂态过程中相对姿态保持性能的关系。

Decentralized Attitude Coordination Control of Satellites within Formation under Input Constraints

The coordination control problem for formation flying satellites associated with time-varying reference attitude tracking was investigated, and a nonlinear, saturated, and decentralized coordination controller was proposed. By introducing a hyperbolic tangent function vector in the controller, the boundness of the continuous control input was guaranteed. Barbalat′s lemma was employed to analyze the stability of the closed-loop attitude coordination controlled system, then the result of the asymptotical stability was obtained. Simulations under various conditions validate the effectiveness of the proposed algorithm and establish the relation between the relative-attitude-keeping performance during the transition and the factors, which are the topology of the information communication graph of formation satellites and controller gains.