Distributed six degree-of-freedom spacecraft formation control with possible switching topology

Min, He; Wang, S.; Sun, Fuchun; Gao, Zhan; Wang, Y.

doi:10.1049/iet-cta.2010.0139

Cited by 30 publications

(36 citation statements)

References 20 publications

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“…Based on a spherical parametrization, [23] addresses the formation problem in S 2 , in which absolute state measurements are however required. [19] and [21] propose a leader-follower formation control scheme based on the parametrizations of unit-quaternions and modi-fied Rodrigues parameters respectively, but the relative errors between leaders and followers are identified by the difference of their parametrization variables, and the control implementation also needs the absolute attitude information. To overcome the drawback caused by parametrizations, [29] provides a reduced-attitude formation control scheme directly in S 2 space.…”

Section: Introductionmentioning

confidence: 99%

An intrinsic approach to formation control of regular polyhedra for reduced attitudes

Zhang

et al. 2020

Automatica

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This paper addresses formation control of reduced attitudes in which a continuous control protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol contains only relative reduced attitude measurements and does not depend on any particular parametrization as is usually used in the literature. A key feature of the control proposed is that it is intrinsic in the sense that it does not need to incorporate any information of the desired formation. Instead, the achieved formation pattern is totally attributed to the geometric properties of the space and the designed inter-agent connection topology. Using a novel coordinates transformation, asymptotic stability of the desired formations is proven by studying stability of a constrained nonlinear system. In addition, a methodology to investigate stability of such constrained systems is also presented.

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Section: Introductionmentioning

confidence: 99%

An intrinsic approach to formation control of regular polyhedra for reduced attitudes

Zhang

et al. 2020

Automatica

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“…It is well known that the connectivity of interaction topologies is a key to achieving the collective behavior in a multi-agent network. Existing results on attitude coordination mostly require the interaction topology to be connected at every time [1,3,4,6,[8][9][10][11][12][13]. However, multi-agent interaction topologies may change over time in practice because of link failures and energy saving.…”

Section: Introductionmentioning

confidence: 99%

“…Concerning a system of rigid-body agents, it is common to assume the absolute attitude of each agent to a global inertial frame is available and the agents can transmit their absolute attitudes to other agents [1,3,[9][10][11][12][13]16]. However, a global reference frame is not always available.…”

Section: Introductionmentioning

confidence: 99%

Relative attitude formation control of multi‐agent systems

Song

et al. 2017

Intl J Robust & Nonlinear

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Summary This paper investigates the relative attitude formation control problem for a group of rigid‐body agents using relative attitude information on SO(3). On the basis of the gradient of a potential function, a family of distributed angular velocity control laws, which differ in the sense of a geodesic distance dependent function, is proposed. With directed and switching interaction topologies, the desired relative attitude formation is showed to be achieved asymptotically provided that the topology is jointly quasi‐strongly connected. Moreover, several sufficient conditions for the desired formation to be achieved exponentially and almost globally are given. Additionally, numerical examples are provided to illustrate the effectiveness of the proposed distributed control laws. Copyright © 2017 John Wiley & Sons, Ltd.

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“…Research on attitude control of spacecraft, especially attitude synchronisation among multiple spacecraft, has long been of interest in recent years because of the theoretical significance and broad applications [1][2][3][4][5][6][7][8][9][10][11][12]. For instance, in deep space exploration, a coordinated cluster of micro-satellites can replace the traditional large and expensive spacecraft to complete a common task, and such schemes can offer the superiorities of low cost, high flexibility, high impact and so on.…”

Section: Introductionmentioning

confidence: 99%

Distributed cooperative control design for finite‐time attitude synchronisation of rigid spacecraft

Zhou

Xia

et al. 2015

IET Control Theory & Applications

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Two finite-time control algorithms are developed for distributed cooperative attitude synchronisation of multiple spacecraft with a dynamic virtual leader. Each spacecraft is modelled as a rigid body incorporating with model uncertainty and unknown external disturbance. The virtual leader gives commands to some of the follower spacecraft, and the communication network between followers can be an undirected or a directed graph. By using two neighbourhood synchronisation error signals, a finite-time control algorithm is designed associated with adaptive mechanism such that all follower spacecraft synchronise to the virtual leader in finite time. Then a novel estimator-based finite-time distributed cooperative control algorithm is developed by using the followers' estimates of the virtual leader, and the convergence of the attitude and angular velocity errors can be guaranteed in finite time. Moreover, both of the control strategies are chattering-free for their continuous design. Simulation examples are illustrated to demonstrate the validity of the two algorithms. IntroductionResearch on attitude control of spacecraft, especially attitude synchronisation among multiple spacecraft, has long been of interest in recent years because of the theoretical significance and broad applications [1][2][3][4][5][6][7][8][9][10][11][12]. For instance, in deep space exploration, a coordinated cluster of micro-satellites can replace the traditional large and expensive spacecraft to complete a common task, and such schemes can offer the superiorities of low cost, high flexibility, high impact and so on. Besides that, the requirement of keeping the precise relative attitude is essential in inter-spacecraft laser communication operation. This study can also be applied to formation manoeuvres in interferometry application, stereo imaging, passive radiometry, terrain mapping and so on [8,13]. Some solutions about attitude control problem for multiple spacecraft can be found in [7,[14][15][16][17][18]. However, they did not consider the model uncertainties or unknown disturbances. A virtual systems-based control algorithm was proposed for the attitude synchronisation problem in [7] without using the angular velocity measurements, it provided a new approach to address the timevarying communication delays and angular velocity unavailable together. A formation flying control problem of multiple spacecraft was studied in [16] by using a novel fast terminal sliding manifold (FTSM) and adaptive control, and a distributed attitude coordination control scheme was developed with a constraint about the initial condition to achieve finite time convergence. Similar to [16,17] also relied on a constraint about the initial condition and proposed a distributed output feedback attitude coordination control algorithm for spacecraft formation flying without using the angular velocities. A leader-following consensus problem was investigated in [18] for multiple rigid spacecraft, by applying a non-linear distributed observer, a distributed control scheme ...

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Distributed six degree-of-freedom spacecraft formation control with possible switching topology

Cited by 30 publications

References 20 publications

An intrinsic approach to formation control of regular polyhedra for reduced attitudes

An intrinsic approach to formation control of regular polyhedra for reduced attitudes

Relative attitude formation control of multi‐agent systems

Distributed cooperative control design for finite‐time attitude synchronisation of rigid spacecraft

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