COOPERATIVE ATTITUDE SYNCHRONIZATION FOR RIGID-BODY SPACECRAFT VIA VARYING COMMUNICATION TOPOLOGY

    Authors

    C. Y. Li;Z. H. Qu

    Comments

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    Abbreviated Journal Title

    Int. J. Robot. Autom.

    Keywords

    Attitude synchronization; cooperative control; switching topology; Lyapunov function; PASSIVITY; ROTATIONS; FEEDBACK; Automation & Control Systems; Robotics

    Abstract

    This paper studies the application of nonlinear cooperative control theory to the attitude synchronization problem. To this end, explicit conditions, in terms of vector nonlinear differential inequalities, is presented firstly to ensure both the Lyapunov stability and asymptotically cooperative stability for a certain class of heterogeneous nonlinear system. Then, decentralized control algorithm incorporated with standard backstepping scheme is developed to accomplish attitude synchronization for a group of spacecraft with rigid body dynamics described by unit quaternion. In particular, the proposed control system imposes the least restriction on the communication, a piecewise constant, intermittently available, and sequentially complete topology is theoretically enough to ensure the cooperative stability. Simulation results demonstrate the effectiveness of the proposed control algorithms.

    Journal Title

    International Journal of Robotics & Automation

    Volume

    26

    Issue/Number

    1

    Publication Date

    1-1-2011

    Document Type

    Article

    Language

    English

    First Page

    110

    Last Page

    119

    WOS Identifier

    WOS:000289654200012

    ISSN

    0826-8185

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