Event-Based Formation Coordinated Control for Multiple Spacecraft Under Communication Constraints

Abstract

This paper addresses the relative position coordinated control problem for spacecraft formation flying under an undirected communication graph, whilst considering mass uncertainties, external disturbances, and limited communication resources. A new event-triggered information transmission mechanism is first presented, where each spacecraft only requires accessing to the states of neighbors intermittently. Subsequently, a novel event-based coordinated control scheme is proposed by combining a smooth adaptive projection rule that confines the parameter estimations to well-defined bounded convex hypercubes. Under the proposed control framework, the information exchange among spacecraft occurs only when the specified event is triggered, thereby significantly reducing the communication load and saving the onboard resources. Furthermore, a positive lower bound on interevent time intervals is guaranteed to exclude Zeno behavior. By virtue of Lyapunov stability analysis and graph theory, it is proved that the relative position tracking errors can converge to small invariant sets around the origin, and that all closed-loop signals are bounded, even in the presence of mass uncertainties and external disturbances. Finally, numerical simulations are given to evaluate the effectiveness and highlight the advantages of the developed control algorithm.