Title

Cooperative Attitude Synchronization For Rigid-Body Spacecraft Via Varying Communication Topology

Keywords

Attitude synchronization; Cooperative control; Lyapunov function; Switching topology

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.

Publication Date

3-7-2011

Publication Title

International Journal of Robotics and Automation

Volume

26

Issue

1

Number of Pages

110-119

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.2316/Journal.206.2011.1.206-3384

Socpus ID

79952170050 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/79952170050

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