Observer-Based Spacecraft Formation Coordinated Control via a Unified Event-Triggered Communication

Abstract

This article addresses the formation tracking control problem for multiple spacecraft systems subject to limited communication resources and external disturbances. Considering that only a subset of the follower spacecraft can have access to the motion states of the dynamic leader, an event-based distributed observer is first developed to reconstruct the leader's information. Subsequently, to achieve the accompanying flight of the follower spacecraft around the leader with a desired formation configuration, for each follower spacecraft, a distributed event-triggered coordinated controller is proposed. In particular, by embedding simultaneously the position information and observer output into the triggering function, a novel unified event-triggered mechanism is designed to schedule information transmission in multiple spacecraft systems. The salient characters of the distributed coordinated control scheme are twofold: unnecessary occupancy of communication resources can be avoided significantly; and asymptotic stability of the whole closed-loop system is guaranteed without resorting to the separation principle. Finally, numerical simulations are carried out to illustrate the efficiency of the theoretical results.