复杂约束下的编队姿态有限时间协同控制方法

综合考虑无角速度量测、外部扰动和系统参数不确定性等约束条件的影响，研究航天器编队姿态有限时间协同控制问题。首先建立航天器相对姿态协同控制模型，利用扩张观测器实现对系统姿态角速度及耦合扰动的估计；在此基础上提出了一种有限时间滑模姿态协同控制律；通过构造合适的Lyapunov函数证明了系统相对姿态误差能够在有限时间内收敛到有界域内；将该结果推广到存在饱和输入情形下，并设计了相应的有限时间滑模姿态协同控制律。仿真结果校验了算法的有效性。

Finite Time Distributed Synchronization of Spacecraft Formation Attitude with Complex Constraints

 The attitude coordination control problem for the spacecraft formation flying with the angular velocity-free measurement, external disturbances and inertia uncertainties is investigated. For the single spacecraft attitude control, a finite-time nonlinear observer is utilized to estimate the unmeasured angular velocity and unknown lumped disturbance. With the proposed sliding-mode control protocol, the global finite-time convergence of the attitude tracking errors is guaranteed via the Lyapunov analysis. Subsequently, the above result is extended to the formation case. The unknown input saturation is also considered and its finite-time attitude sliding-mode control coordination protocol is combined. The effectiveness of the protocol is validated by the numerical simulation.