Decentralised cooperative attitude tracking using modified Rodriguez parameters based on relative attitude information

被引:53
作者
Meng, Ziyang [1 ,2 ]
Ren, Wei [1 ]
You, Zheng [2 ]
机构
[1] Utah State Univ, Dept Elect & Comp Engn, Logan, UT 84322 USA
[2] Tsinghua Univ, Dept Precis Instruments & Mechanol, Beijing 100084, Peoples R China
基金
美国国家科学基金会;
关键词
decentralised cooperative attitude tracking; passivity approach; local stability; dynamic topology; SPACECRAFT FORMATION; MULTIPLE SPACECRAFT; FLYING SPACECRAFT; SYSTEMS; COORDINATION; SYNCHRONIZATION; STABILITY; ALIGNMENT;
D O I
10.1080/00207179.2010.528036
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this article, the problem of decentralised cooperative attitude tracking based on relative attitude information is considered in the context of deep space spacecraft formation flying. We use modified Rodriguez parameters for attitude representation due to its nonreduction. We first present a distributed sliding-mode estimator and a cooperative attitude tracking control law such that the attitudes and angular velocities of all spacecraft track their references. Then we extend the result to three different cases. In the first case, we use a passivity approach to derive a control law without angular velocity measurements, which is of significance for applications with low-cost configurations of spacecraft. In the second case, to relax the special connectivity condition given in the original control design, we obtain a locally asymptotical stability condition for any undirected connected communication topology. In the third case, we consider cooperative attitude tracking in the presence of a dynamic communication topology. Simulation results are presented to validate the effectiveness of these control laws.
引用
收藏
页码:2427 / 2439
页数:13
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