Application of Synchronization to Cooperative Control and Formation Flight of Spacecraft

Abstract

This article presents a simple synchronization framework with application to synchronization control of formation flying spacecraft. A dynamical network of multiple Lagrangian systems is constructed by adding diffusive couplings to otherwise freely flying spacecraft. The proposed tracking control law synchronizes an arbitrary number of spacecraft into a common time-varying trajectory with global exponential convergence. The proposed strategy is much simpler than earlier work in terms of both the computational load and the required signals. Furthermore, in contrast with prior work which used simple double integrator models, the proposed method permits highly nonlinear systems and is further extended to adaptive synchronization, partial-state coupling, and time-delayed communications.

Attitude and Phase Synchronization of Formation Flying Spacecraft: Lagrangian Approach

“…17 In addition, the previous works do not discuss a property of robustness in detail. In contrast, we show that the proposed decentralized control law possesses a property of robustness to inter-spacecraft time-delays 4,6 and bounded disturbances. An adaptive version of the proposed control law is also presented to deal with parametric uncertainties of dynamic models.…”

“…The spacecraft inertia matrix is given from the two-spacecraft example in Ref. 6. The attitude control gains were defined as K 1 = 30I, K 2 = 20I and Λ = 20I.…”

“…6 The following equations of motion are obtained with respect to the modified Rodrigues parameters 30, 31 q i for the i-th spacecraft…”

“…This paper improve on our recent paper on the synchronization of multiple formation flying spacecraft 6 in multiple ways. First, we show that the linear translation dynamics with some nonlinear gravity terms can be written in a Lagrangian form.…”

A synchronizing second order sliding mode control applied to decentralized time delayed multi−agent robotic systems: Stability Proof

“…In fact, cooperative and coordinated control have attracted several research communities such as: biology [3]; artificial intelligence [4]; wireless sensor networks [ 5,6]; control of mobile robot [7,8]; spacecraft [9,10]. The synchronized control of robot manipulators has been firstly presented in [11,12].…”