Regular Paper

International Journal of Control, Automation and Systems 2013; 11(5): 938-946

Published online October 9, 2013

https://doi.org/10.1007/s12555-012-0498-y

© The International Journal of Control, Automation, and Systems

Distributed Adaptive Attitude Tracking of Multiple Spacecraft with a Leader of Nonzero Input

Dapeng Yang, Zhen Chen*, and Xiangdong Liu

Beijing Institute of Technology

Abstract

This paper considers the distributed attitude tracking problem of multiple spacecraft with a leader whose control input is possibly nonzero, bounded, and not available to any follower. Based on the relative attitudes and angular velocities of neighboring spacecraft, we design a distributed discon-tinuous adaptive controller to each follower to guarantee that the attitude errors between the followers and the leader converge to zero for any communication graph containing a directed spanning tree with the leader as the root. To tackle the chattering effect caused by the discontinuous controller, we further propose a distributed continuous adaptive controller, under which both the attitude tracking errors and the adaptive gains are ultimately bounded.

Keywords Adaptive control, distributed attitude tracking, distributed control, multiple spacecraft.

Article

Regular Paper

International Journal of Control, Automation and Systems 2013; 11(5): 938-946

Published online October 1, 2013 https://doi.org/10.1007/s12555-012-0498-y

Copyright © The International Journal of Control, Automation, and Systems.

Distributed Adaptive Attitude Tracking of Multiple Spacecraft with a Leader of Nonzero Input

Dapeng Yang, Zhen Chen*, and Xiangdong Liu

Beijing Institute of Technology

Abstract

This paper considers the distributed attitude tracking problem of multiple spacecraft with a leader whose control input is possibly nonzero, bounded, and not available to any follower. Based on the relative attitudes and angular velocities of neighboring spacecraft, we design a distributed discon-tinuous adaptive controller to each follower to guarantee that the attitude errors between the followers and the leader converge to zero for any communication graph containing a directed spanning tree with the leader as the root. To tackle the chattering effect caused by the discontinuous controller, we further propose a distributed continuous adaptive controller, under which both the attitude tracking errors and the adaptive gains are ultimately bounded.

Keywords: Adaptive control, distributed attitude tracking, distributed control, multiple spacecraft.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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