Hybrid Attitude Coordination Controller for Multiple-Spacecraft Systems with Hyperbolic-Tangent Distributed Observer

Sie sind hier: Homepage > Suche

Hybrid Attitude Coordination Controller for Multiple-Spacecraft Systems with Hyperbolic-Tangent Distributed Observer

Zhang, Yao / Tang, Shengjing / Guo, Jie

This paper investigates the leader-following attitude consensus problem for a multiple-spacecraft system. Based on Lyapunov theory and homogeneous technique, quaternion-based hybrid globally finite-time feedback coordination controllers are proposed when at least one follower can access the leader’s attitude and velocity relative to the inertial space. To simplify the conventional design of the attitude consensus law, a nonlinear distributed observer is proposed by using a hyperbolic tangent function to estimate the leader’s states for each follower spacecraft. The observer possesses finite-time convergence property and thus provides accurate estimations without chattering for each follower. In the following, without direct access to the leader, quaternion-based hybrid feedback controllers recently designed for single spacecraft are developed and then applied, by integrating with the proposed distributed observer, to track the leader’s attitude motion. As a result, global finite-time attitude coordination controllers are achieved on the entire attitude manifold, with either full-state measurements or biased angular velocity measurements, as long as the communication topology among the followers is undirected and connected. Extensive simulations are presented to demonstrate the effectiveness and superiority of the proposed control schemes.