Leader-following Attitude Consensus Problem Research Articles

Continuous Distributed Fixed-Time Attitude Controller Design for Multiple Spacecraft Systems With a Directed Graph

This brief addresses the fixed-time leader-following attitude consensus problem for multiple spacecraft systems on a directed graph. A distributed continuous observer is designed to estimate the angular velocity of the leader within a fixed time. Based on the fixed-time observer and adding a power integrator method, a continuous distributed adaptive controller is developed to achieve the consensus tracking control in a fixed time which is regardless of the initial conditions. The proposed continuous fixed-time scheme works well when the systems are subject to model uncertainties and external disturbances. The simulation results show the effectiveness of the proposed control scheme.

Leader-following consensus of multiple rigid body systems by a sampled-data distributed observer

In this paper, we study the leader-following attitude consensus problem of multiple rigid body systems by a sampled-data distributed observer. Comparing with the continuous-time distributed observer, the sampled-data distributed observer consumes fewer communication resources and is less vulnerable to such communication failures as network congestions and packet dropouts. The sampled-data distributed observer consists of two parts. The first part is a sampled-data distributed observer for the angular velocity leader subsystem and the second part is a sampled-data distributed observer for the attitude leader subsystem. It is noted that, since the attitude leader subsystem is nonlinear, a special effort has to be made to establish the sampled-data distributed observer for the attitude leader subsystem. Moreover, we give an explicit upper bound for the sampling intervals to guarantee the validity of the sampled-data distributed observer. On the basis of the sampled-data distributed observer, we further synthesize a distributed control law to solve the leader-following consensus problem. The effectiveness of our approach is illustrated by a numerical example.

Retraction: Hybrid Attitude Coordination Controller for Multiple-Spacecraft Systems with Hyperbolic-Tangent Distributed Observer

This paper investigates the leader-following attitude consensus problem for a multiple-spacecraft system. Based on Lyapunov theory and homogeneous technique, quaternion-based hybrid globally finite...

Consensus of Multiple Spacecraft Systems Over Switching Networks by Attitude Feedback

In this paper, we further consider the leader-following attitude consensus problem of multiple rigid body systems subject to jointly connected switching networks by a distributed attitude feedback control law. Since the network is switching, the closed-loop system is discontinuous. We overcome this difficulty by a generalized Barbalat's lemma. Moreover, we remove two restrictive assumptions in the literature. As a result, our control law is fully distributed and the result is global.

Leader-Following Attitude Consensus of Multiple Rigid Spacecraft Systems Under Switching Networks

The leader-following attitude consensus problem of networked rigid spacecraft systems is addressed by a distributed control law. Compared with existing results, the salient characteristic of this work is that the communication network is allowed to be directed and switching. In particular, the switching network only needs to be jointly connected, which is a very mild condition on network connectivity. As a consequence, the robustness and reliability for consensus of networked rigid spacecraft systems can be greatly improved. By establishing a series of technical lemmas, it is shown that leader-following attitude consensus of switched networked rigid spacecraft systems can be achieved. The effectiveness of our main result is demonstrated by cooperative control of a group of rigid spacecraft.

Event-triggered fault tolerant control for spacecraft formation attitude synchronization with limited data communication

This paper investigates the leader-following attitude consensus problem of a group of n-th spacecrafts with actuator fault and limited data communication, where the event-triggered based sending mechanism is considered to decrease communication burthen. In this design, unknown actuator faults and external disturbances are considered, and an event-triggered based adaptive distributed cooperative attitude control law is developed to solve the multiple spacecrafts formation control problem. It is shown that leader-following attitude synchronization can be achieved under the designed event-triggered control law. Finally, a simulation example is provided to illustrate the effectiveness of the proposed attitude coordination control techniques.

Global finite-time attitude consensus of leader-following spacecraft systems based on distributed observers

This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader’s attitude and velocity relative to the inertial space. A nonlinear distributed observer is designed to estimate the leader’s states for each follower. The observer possesses one important and novel feature of keeping attitude and angular velocity estimation errors on second-order sliding modes, and thus provides finite-time convergent estimates for each follower. Further, quaternion-based hybrid homogeneous controllers recently developed for single spacecraft are extended and then applied, by establishing a separation principle with the proposed observer, to track the leader’s attitude motion. As a result, global finite-time attitude consensus is achieved on the entire attitude manifold, with either full-state measurements or attitude-only measurements, as long as the network topology among the followers is undirected and connected. Numerical simulations are presented to demonstrate the performance of the proposed methods.

Leader-following attitude consensus of multiple rigid body systems subject to jointly connected switching networks

The leader-following attitude consensus problem of multiple rigid body systems has been studied by the distributed observer approach. The key assumption in the existing results is that the communication network among the rigid body systems is static and connected. Nevertheless, this assumption is undesirable since, typically, the communication network is time-varying and disconnected from time to time due to changes of the environment or failures of some subsystems. In this paper, we will further study the leader-following attitude consensus problem of multiple rigid body systems subject to a jointly connected switching communication network. This new problem is more challenging than the existing one since a jointly connected switching communication network can be disconnected at every time instant. To overcome the difficulty, we first show that the distributed observer for a nonlinear target system subject to a jointly connected switching communication network exists. Then, we further synthesize a distributed control law utilizing this distributed observer for the multiple rigid body systems. Finally, we show that this distributed control law solves our problem through the argument of the certainty equivalence principle.

Leader-following Attitude Consensus of Multiple Rigid Body Systems by an Adaptive Distributed Observer Approach

The leader-following attitude consensus problem of multiple rigid body systems has been studied by the distributed observer approach. The distributed observer is able to estimate the reference signals generated by a target system under the assumption that each rigid body system knows the two system matrices of the target system. In this paper, we propose an adaptive distributed observer approach which estimates not only the state of the target system, but also the two systems matrices of the target system. Utilizing this adaptive distributed observer, we are able to solve the leader-following attitude consensus problem without assuming that each rigid body system knows the two system matrices of the target system.

Leader-following attitude consensus of multiple uncertain spacecraft systems subject to external disturbance

Summary The attitude consensus problem of multiple rigid spacecraft systems is one of the key issues in spacecraft formation flying and has been extensively studied. In this paper, we further consider the leader-following attitude consensus problem of multiple rigid uncertain spacecraft systems subject to a class of multi-tone sinusoidal disturbances with arbitrarily unknown amplitudes, initial phases, frequencies, and constant biases. In contrast to the existing results, in order to achieve asymptotic reference tracking and disturbance rejection by smooth control, we have integrated the distributed observer approach with internal model and adaptive control techniques. Simulation results are shown to validate the effectiveness of the proposed control law. Copyright © 2016 John Wiley & Sons, Ltd.

Leader-following attitude consensus of multiple rigid body systems by attitude feedback control

In this paper, we study the leader-following attitude consensus problem for multiple rigid body systems by a distributed unit quaternion-based attitude feedback control law. The control law is based on the certainty equivalence principle and contains a distributed observer for estimating the state of the leader and an auxiliary system compensating for the unavailability of the angular velocity. It is shown that the problem is solvable under the standard assumption that each follower can access the information from the leader through a directed path.

Distributed Attitude Consensus for Multiple Rigid Spacecraft under Jointly Connected Switching Topologies

We study the distributed leader-following attitude consensus problem for multiple rigid spacecraft with a single leader under jointly connected switching topologies. Two cases are considered, where the first case is with a static leader and the second case is with a dynamic leader. By constructing an auxiliary vector and a distributed observer for each follower spacecraft, the controllers are designed to drive all the attitudes of the follower spacecraft to the leader’s, respectively, for both of the two cases, though there are some time intervals in which the communication topology is not connected. The whole system is proved to be stable by using common Lyapunov function method. Finally, the theoretical result is illustrated by numerical simulations.