On the Impact of Cross-Link Delays on Spacecraft Formation Control

Abstract

In this paper, the ability to perform tight formation control in the presence of communication and measurement delays is investigated. The paper discusses cross-link requirements for formation control and compares centralized and decentralized control strategies. A simple two degree-of-freedom model with communication delays is introduced for analysis. A typical approach for systems with small time delays is to base the design on a nominal system model that does not contain the time-delays. The limitations of this approach on stability and closed -loop bandwidth are discussed. Finally, the time delay is considered in the design of state-feedback with integral feedback controllers. The effects of the time -delay on stability, stability margins, and bandwidth are investigate d. An example illustrating these effects is presented.