Consensus Control of Multiple Spacecraft based on Disturbance Observer

Abstract

The leader-following attitude consensus problem for multiple rigid spacecraft formation systems (MSF) with uncertainties, external disturbances, and actuator saturation is addressed in this paper. The first step to solve this problem is to assume that all parameters of the rigid spacecraft system and networks communication links are known. At first, the leader-following consensus problem is redefined to well defined error system by utilizing a nonlinear distributed observer for the leader spacecraft. Then by composing a high order disturbance observer (HODO) and adaptive super twisting algorithm (ASTA) the control problem is solved for each spacecraft. Finally, a simulation example is given with one leader and four followers.