The primary contribution of this work lies in the development of decentralized 6DOF (degree of freedom) robust coordinated control for formation spacecraft subject to coupled attitude and translational dynamics. The benefit of the proposed coordinated controller is that, it can ensure that the attitude and translational tracking errors converge to zero, meanwhile achieve attitude consistency and formation keeping, despite the presence of parametric uncertainty, time-varying external disturbances with unknown bounds, switching topologies, and non-constant communication delays. To guarantee global closed-loop state convergence, only a general topology of undirected communication graphs was required, and knowledge of precise values of time delays was not needed. Simulations have shown that, compared with the centralized leader-follower controller without local information exchange, the presented decentralized coordinated controller with local information exchange features better performance in terms of attitude consistency and formation keeping when formation spacecraft perform entire-group attitude and formation maneuvers. In the current work, only undirected communication graphs for information exchange were considered. How to extend the algorithm proposed in this article to the case of directed graphs deserves further research. In the future, higher-fidelity coupled dynamics models, e.g. the model involving angular misalignment of thrusters, may be established and employed for decentralized 6 DOF coordinated controller design to achieve higher-precision coordination performance. Also, it will be inspiring to experimentally implement and validate the algorithm of this study on ground platforms for SFF (spacecraft formation flying).


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    Title :

    Decentralized robust coordinated control for formation flying spacecraft with coupled attitude and translational dynamics


    Additional title:

    Dezentralisierte robust koordinierte Kontrolle für den Formationsflug von Raumfahrzeugen mit gekoppelter Flugstellung und Paralleldynamik


    Contributors:


    Publication date :

    2013


    Size :

    18 Seiten, 14 Bilder, 22 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English