Optimal attitude consensus control for rigid spacecraft formation based on control Lyapunov functions

Abstract

In this article, the optimal attitude consensus control problem of distributed spacecraft formation through local information exchange is solved in the presence of parameter uncertainty and disturbance. The attitude dynamics model of rigid spacecraft formation is established based on unit quaternion under an undirected graph. Then, the optimal attitude consensus control scheme based on control Lyapunov functions is adopted for rigid spacecraft formation. The approach to construct an appropriate Lyapunov function for multiple spacecraft is developed. Then the lumped disturbance is estimated by an extended state observer (ESO) and using the sliding mode control approach improves the robustness of the controller. The proposed optimal controller can not only ensure the global consensus convergence of the system but also make the preset performance index function achieve the minimum value. In addition, the mathematical proof is given for the stability analysis of the system by the Lyapunov stability theory. Finally, some simulations and comparisons are presented to demonstrate the validity and advantages of the proposed controller.

Switching threshold event‐triggered critic algorithm for optimal orbit tracking and formation motion

“…Recently, optimal performance, such as energy consumption, is an essential criterion for MUVs in real applications [8], especially for formation tracking problems. Many designs are based on traditional optimal control methods [9,10]. Note that solving the Hamilton-Jacobi-Bellman (HJB) equation through traditional optimal controllers can be rather complicated, whereas reinforcement learning [11] using neural networks (NNs) can be a powerful weapon for approximating the solutions to optimal control problems.…”