Distributed coordinated attitude tracking control of a multi-spacecraft system with dynamic leader under communication delays

Zhanjie Zhou; Zhihao Zhang; Yan Wang

doi:10.1038/s41598-022-19367-2

Distributed coordinated attitude tracking control of a multi-spacecraft system with dynamic leader under communication delays

Sci Rep. 2022 Sep 3;12(1):15048. doi: 10.1038/s41598-022-19367-2.

Authors

Zhanjie Zhou¹, Zhihao Zhang², Yan Wang³

Affiliations

¹ Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, People's Republic of China.
² School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai, 264209, People's Republic of China.
³ Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, People's Republic of China. hit_yanw@163.com.

Abstract

This paper is dedicated to the challenging issue of the cooperative attitude tracking control of a multi-spacecraft system under communication delays. A state estimator using the attitude information of the neighbors is designed for each follower spacecraft to estimate the time-varying attitude information of the leader spacecraft in the case that the leader spacecraft cannot directly communicate with all following spacecraft. By constructing auxiliary variables based on estimated values and proposing a fixed-time control law to ensure that the auxiliary variables of the spacecraft can reach zero in fixed time, which is independent of the initial state, the effects of time-varying reference attitudes on the system can be reduced. The attitude error and the estimation error are proven to converge to the region containing the origin by input-to-state stability theory combined with the Lyapunov-Krasovskii approach. To further illustrate the effectiveness of the proposed control algorithm, numerical simulation results are presented.