Abstract An adaptive finite-time attitude and position coupled tracking controller for six-degree-of-freedom (6-DOF) leader-following spacecraft formation is proposed in this paper. The relative motion of the follower with respect to its desired pose is represented by twistors in a unified way without state redundancy. A fast terminal sliding surface is proposed for the twistor-based dynamic system to achieve finite-time convergence. Then an adaptive finite-time controller is developed with the unknown inertial parameters of the follower spacecraft and the upper bounds of the disturbances estimated by elaborately designed adaptive laws. The finite-time convergence of the closed-loop system is proven via Lyapunov analysis. In addition, an simple but effective strategy is proposed to eliminate the attitude unwinding phenomenon. The proposed adaptive finite-time control scheme possesses faster convergence, higher control accuracy, and more preferable control inputs. In addition, the possible numerical difficulties caused by logarithmic function of dual quaternions is avoided. Finally, simulation results demonstrate the effectiveness of the proposed algorithm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive finite-time control for six-degree-of-freedom leader-following spacecraft formation using twistors


    Contributors:
    Zhang, Bo (author) / Li, Fei (author)

    Published in:

    Advances in Space Research ; 70 , 5 ; 1297-1311


    Publication date :

    2022-06-03


    Size :

    15 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English