Distributed Attitude Coordinated Control of Multiple Spacecraft With Attitude Constraints

Li, Dongyu; Ma, Guangfu; Li, Chuanjiang; He, Wei; Mei, Jie; Ge, Shuzhi Sam

doi:10.1109/taes.2018.2812438

Cited by 75 publications

(44 citation statements)

References 39 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…By designing the local controller (24), the output consensus tracking is achieved such that the tracking error i can converge to a adjustable small small region of the origin in a finite time, for all i = 1, … , N, and the subsystem output y i never escapes from the interval (− P i1 , P i2 ), namely, −P i1 < y i < P i2 , for all i = 1, … , N and t ≥ 0.…”

Section: Theorem 1 Consider Nonlinear Systems (1) That Satisfy the Amentioning

confidence: 99%

Distributed finite‐time output consensus tracking for a class of high‐order nonlinear multiagent systems with the powers of positive odd rational numbers and output constraints

Liu

Wang

Ding

2020

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

This article considers the distributed finite-time output consensus tracking problem for a class of high-order nonlinear multiagent systems with the powers of positive odd rational numbers and output constraints. First, since the finite-time tracking design method for a single system with the powers of positive odd rational numbers cannot be extended to the finite-time consensus tracking for multiagent systems, an especial configuration method of the powers is constructed. Second, a new exponential brake function (EBF) that purely depends on the outputs is proposed to address the asymmetric output constraints directly. By adjusting a related parameter, the large converted value can be avoided when the output approaches the constrained boundaries, which may reduce the control input over a large output scale. Third, given some reasonable assumptions, a distributed finite-time output consensus tracking controller is proposed to guarantee that the tracking error converges to an adjustable small region around the origin in a finite time and that the output constraints of all subsystems are not violated. The result with output constraints can also be extended to the case without output constraints. Finally, simulation verifications also confirm the benefits and effectiveness of the proposed control methods.

show abstract

Section: Theorem 1 Consider Nonlinear Systems (1) That Satisfy the Amentioning

confidence: 99%

Distributed finite‐time output consensus tracking for a class of high‐order nonlinear multiagent systems with the powers of positive odd rational numbers and output constraints

Liu

Wang

Ding

2020

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…By state and output feedback, Li et al . [42] presented distributed attitude control laws for multiple spacecraft with attitude constraints. NNs were utilised to deal with the model uncertainties.…”

Section: Introductionmentioning

confidence: 99%

“…NNs were utilised to deal with the model uncertainties. Barrier Lyapunov function (BLF) method was used in [41, 42] to realise state constraints. However, it should be noted that the results in [41, 42] could not tackle the problems without constraints.…”

Section: Introductionmentioning

confidence: 99%

Distributed finite‐time tracking control for multiple uncertain Euler–Lagrange systems with input saturations and error constraints

Chen

Sun

et al. 2019

IET Control Theory & Applications

Self Cite

View full text Add to dashboard Cite

“…Then, amounts of works were developed based on it. A distributed attitude coordinated control for multiple spacecraft with attitude constraints was designed in [13]. A model-based control law was proposed to achieve multilayer formation in [14].…”

mentioning

confidence: 99%

“…It should be pointed out that constraint problem, input saturation, and model uncertainties are very crucial factors for the underactuated USV with the high speed. However, the output constraints and input saturation were separately considered in [13]- [17] and [19], [20], the system considered in [18] was a single input system. In addition, the differential terms of virtual velocity always appeared in the control law [21]- [23], that is to say, the acceleration was needed in the control law, which made the control law complex and difficult to implement in practice engineering.…”

mentioning

confidence: 99%

Adaptive Formation Control for Waterjet USV With Input and Output Constraints Based on Bioinspired Neurodynamics

Wang

2019

IEEE Access

View full text Add to dashboard Cite

A safety guaranteed formation control problem for waterjet unmanned surface vehicles (USV) under the consideration of unmodeled dynamics, environmental disturbances, input saturation, and output constraints is addressed in this paper. The leader-follower method and line-of-sight (LOS) strategy are employed to achieve the desired formation structure. Firstly, two tan-type barrier Lyapunov functions (BLF) are designed to limit the formation errors always within a predefined range to avoid collisions and keep communications, it can also relax the assumption of each USV's initial position to random. Besides, a bioinspired neurodynamics method is involved to avoid the appearance of the virtual velocity differential terms in the control law, which is different from the traditional dynamic surface method and makes it easier to implement in practice. Further, adaptive neural networks (NN) are used to approximate unmodeled dynamics and an auxiliary dynamics system is introduced to handle the input saturation. It is proved that the uniform ultimate boundedness of all signals in the control system can be achieved. Finally, simulation studies show the effectiveness of the proposed control law. INDEX TERMS USV, leader-follower formation, LOS, bioinspired, constraint. I. INTRODUCTION Research on multiple agent system has grown markedly in recent years since the single-vehicle has limited fuel and will increase the time to complete the task. A class of underactuated system waterjet unmanned surface vehicles has received considerable attention due to its rapidity, flexibility and efficiency such as minesweeping, transport strategic materials, rescue missions, seabed mapping, ocean floor survey and so on [1]-[3]. This type of robot with two inputs (surge force and yaw torque) and three outputs (position and orientation) is also called a nonholonomic system, the control strategy for the full-actuated system can not be used directly to the underactuated system. It is worth noting that most works in the formation control for USV [4]-[7] only consider the formation pattern, i.e., the stable-state errors. We can predict that even though the USV moves in the desired pattern, if the extern environments The associate editor coordinating the review of this manuscript and approving it for publication was Valentina E. Balas .

show abstract

Distributed Attitude Coordinated Control of Multiple Spacecraft With Attitude Constraints

Cited by 75 publications

References 39 publications

Distributed finite‐time output consensus tracking for a class of high‐order nonlinear multiagent systems with the powers of positive odd rational numbers and output constraints

Distributed finite‐time output consensus tracking for a class of high‐order nonlinear multiagent systems with the powers of positive odd rational numbers and output constraints

Distributed finite‐time tracking control for multiple uncertain Euler–Lagrange systems with input saturations and error constraints

Adaptive Formation Control for Waterjet USV With Input and Output Constraints Based on Bioinspired Neurodynamics

Contact Info

Product

Resources

About