Systems Engineering and Electronics ›› 2018, Vol. 40 ›› Issue (9): 2032-2039.doi: 10.3969/j.issn.1001-506X.2018.09.20

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Attitude cooperative control of multiple spacecraft on SO(3) with communication time-delay

DONG Chaoyang1, MA Mingyu1,2, WANG Qing3, ZHOU Min4   

  1. 1. School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China;
    2. Beijing Institute of Electronic System Engineering, Beijing 100854, China; 3. School of Automation
    Science and Electrical Engineering, Beihang University, Beijing 100191, China; 4. Science and
    Technology on Special System Simulation Laboratory Beijing Simulation Center, Beijing 100854, China
  • Online:2018-08-30 Published:2018-09-09

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Abstract:

This paper is concerned with the attitude cooperative control of multi-spacecraft. With communication delays considered, a cooperative control strategy on SO(3) is proposed. The attitude of the spacecraft is described by the SO(3) method, and the control system is modeled with the communication topology. Based on this, the cooperative commands are designed in the form of rotation matrices. The relative errors on SO(3) are proposed to construct the cooperative controller, and the compensation filter is introduced to handle the time delay in the control system. Then, the stability analysis with the controllers on SO(3) is presented, and it guarantees the tracking of the commands so that the spacecraft could achieve attitude synchronization. The proposed method is verified by simulation, and the results demonstrate that the cooperative control method on SO(3) is effective.

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