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attitude coordination for spacecraft formation with multiple communication delays

Chinese Journal of Aeronautics 2015年第2期28卷 527-534页

作者： Guo Yaohua Lu Pingli Liu Xiangdong School of Automation Beijing Institute of Technology

Communication delays are inherently present in information exchange between space- craft and have an effect on the control performance of spacecraft formation. In this work, attitude coordination control of spacecraft formation is addressed, which is in the presence of multiple communication delays between spacecraft. Virtual system-based approach is utilized in case that a constant reference attitude is available to only a part of the spacecraft. The feedback from the virtual systems to the spacecraft formation is introduced to maintain the formation. Using backstepping control method, input torque of each spacecraft is designed such that the attitude of each spacecraft converges asymptotically to the states of its corresponding virtual system. Furthermore, the back- stepping technique and the Lyapunov-Krasovskii method contribute to the control law design when the reference attitude is time-varying and can be obtained by each spacecraft. Finally, effectiveness of the proposed methodology is illustrated by the numerical simulations of a spacecraft formation.

关键词： attitude coordination Backstepping Delay control systems Formation Lyapunov-Krasovskii

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attitude coordination of Multi-HUG Formation Based on Multibody System Theory

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China Ocean Engineering 2017年第2期31卷 248-255页

作者： XUE Dong-yang WU Zhi-liang QI Er-mai WANG Yan-hui WANG Shu-xin Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin University Tianjin 300072 China School of Mechanical Engineering Tianjin University Tianjin 300072 China National Ocean Technology Center Tianjin 300112 China

Application of multiple hybrid underwater gliders （HUGs） is a promising method for large scale, long-term ocean survey. attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field （APF） approach. attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.

关键词： hybrid underwater gliders (HUGs) formation attitude coordination multibody system Kane's equation

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attitude coordination of Deep Space Formation Flying via Virtual Structure

Attitude Coordination of Deep Space Formation Flying via Vir...

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第二十九届中国控制会议

作者： CONG Binglong,LIU Xiangdong,CHEN Zhen School of Automation,Beijing Institute of Technology,Beijing 100081,P.R.China

An attitude coordination control strategy is proposed for deep space formation flying attitude *** formation is treated as a rigid body via virtual *** architecture is introduced to deal with the multi-level control of virtual structure and formation *** with the attitude motion of the virtual structure,the desired attitude motion trajectories of formation spacecrafts are obtained for attitude control *** improve the robustness,a sliding mode control low is designed in the local attitude tracking controller to track the desired attitude ***,a numerical simulation of three spacecrafts deep space formation flying is employed to illustrate the effectiveness of the proposed strategy.

关键词： Formation Flying attitude coordination Virtual Structure Hierarchical Architecture Sliding Mode Control

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Robust Global Finite-time attitude coordination for Multiple Spacecraft

Robust Global Finite-time Attitude Coordination for Multiple...

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第37届中国控制会议

作者： Junjie Fu Jinzhi Wang School of Mathematics Southeast University State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University

In this paper, we consider the robust global finite-time coordinated attitude tracking problem for multiple spacecraft with general directed communication graphs. First, a robust global finite-time attitude tracking controller is designed for single spacecraft based on homogeneous control method and integral sliding mode control method. Quaternion representation is used and the undesirable unwinding phenomenon is avoided. Based on the proposed finite-time attitude tracking controller, an observer-based distributed finite-time attitude tracking controller is designed for multiple spacecraft. Simulation examples are provided to demonstrate the obtained results.

关键词： attitude coordination Finite-time attitude tracking Directed communication graph

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Decentralized H∞ control for attitude coordination of spacecraft formation

Decentralized H∞ control for attitude coordination of space...

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第36届中国控制会议

作者： Pingli Lu Gang Liu Xiangdong Liu School of Automation Beijing Institute of Technology

In this paper, a robust H decentralized controller is proposed for attitude coordination of spacecraft formation flying with external disturbance based on the relative attitudes and angular velocities of neighboring spacecraft. The controller is composed of nonlinear terms for performance enhancement and linear terms for attitude coordination and stabilization. The proposed control method guarantees the attitude alignment with zero final angular velocity and robust disturbance attenuation for spacecraft formation when the communication topology is connected. A feature of the proposed approach is that the robust Hcontroller parameters can be obtained by solving linear matrix inequalities(LMIs), which makes the design more ***, the numerical simulations of a spacecraft formation are provided to show the effectiveness of the proposed consensus algorithm.

关键词： attitude coordination linear matrix inequality nonlinear H∞ control multiple spacecraft spacecraft formation

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Coordinated path-following and attitude control for multiple surface vessels via curve extension method

Coordinated path-following and attitude control for multiple...

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第24届中国控制与决策会议

作者： Yang-Yang Chen 1 , Yu-Ping Tian 1 1. School of Automation, Southeast University, Nanjing 210096, China

This paper addresses the problem of coordinated path-following and attitude control design for a group of fully actuated surface vessels on given convex loops. By incorporating the curve extension design with the consensus- based design we propose a solution to the formation and attitude coordination control. It removes the assumption of nonzero total speed of each vessel that is presented in the literature. With the help of invariance-like theorem and the extension of Barbalat’s lemma, it is proved that the designed cooperative control system is asymptotically stable if the bidirectional commutation topology is connected. An simulation example is presented as a proof of concept.

关键词： Fully actuated surface vessels Coordinated path-following attitude coordination Curve extension Back- stepping

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