Velocity‐free coordinated attitude synchronisation and tracking control of multiple spacecraft

Li, Xiaoping; Zou, Yao; Meng, Ziyang; You, Zheng

doi:10.1049/iet-cta.2019.0779

Cited by 5 publications

(2 citation statements)

References 37 publications

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“…On the other hand, Liu et al [ 22 ] achieved attitude synchronization of spacecraft without needing velocity measurements, which is due to the representation of the rigid bodies by means of modified Rodrigues parameters (MRPs). Furthermore, Abdessameud et al [ 10 ] employed the unit quaternion representation of the attitude of a spacecraft to cope with the attitude synchronization of multiple spacecraft under communication delays.…”

Section: Introductionmentioning

confidence: 99%

Attitude Synchronization of a Group of Rigid Bodies Using Exponential Coordinates

Sidón-Ayala,

Pliego-Jiménez,

Cruz-Hernandez

2023

Entropy

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Currently, managing a group of satellites or robot manipulators requires coordinating their motion and work in a cooperative way to complete complex tasks. The attitude motion coordination and synchronization problems are challenging since attitude motion evolves in non-Euclidean spaces. Moreover, the equation of motions of the rigid body are highly nonlinear. This paper studies the attitude synchronization problem of a group of fully actuated rigid bodies over a directed communication topology. To design the synchronization control law, we exploit the cascade structure of the rigid body’s kinematic and dynamic models. First, we propose a kinematic control law that induces attitude synchronization. As a second step, an angular velocity-tracking control law is designed for the dynamic subsystem. We use the exponential coordinates of rotation to describe the body’s attitude. Such coordinates are a natural and minimal parametrization of rotation matrices which almost describe every rotation on the Special Orthogonal group SO(3). We provide simulation results to show the performance of the proposed synchronization controller.

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Section: Introductionmentioning

confidence: 99%

Attitude Synchronization of a Group of Rigid Bodies Using Exponential Coordinates

Sidón-Ayala,

Pliego-Jiménez,

Cruz-Hernandez

2023

Entropy

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“…The set of attitudes is the set of 3 × 3 orthogonal matrices ' the space SO(3) which is not Euclidean [2]- [4]. Various attitude parameterisations are developed to describe the attitude such as Euler angles [5], quaternions [6], axis-angle [7], Rodrigues parameters [8], modified Rodrigues parameters [9]. However, all parameterisations fail to represent the set of attitudes both globally and uniquely [10].…”

Section: Introductionmentioning

confidence: 99%

Attitude tracking control for observation spacecraft flying around the target spacecraft

Yang

et al. 2021

IET Control Theory & Appl

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This paper addresses the attitude tracking problem of observation spacecraft, which is traveling around the target spacecraft. To observe the target spacecraft completely, view planning technology is used to select the optimal viewpoints where the observation spacecraft need to achieve and scans the target spacecraft. The desired attitude and desired angular velocity are determined by the relative location and relative velocity of the observation spacecraft with respect to the target spacecraft. The attitude tracking model are globally and uniquely described in the space of SO(3) × R 3 . Based on the sliding mode method, a nonlinear feedback controller is designed to track the desired attitude and desired angular velocity. The convergence and stability of the closed-loop system are assured by Morse-Lyapunov theorem and LaSalle's theorem. Moreover, it is proved that the attitude error and angular velocity error converge to a tolerable error interval regardless of actuator misalignment, uncertainties of the inertia matrix and external disturbed torque. In addition, the convergence interval is determined by the parameter setting in the controller. Finally, numerical simulations are presented to illustrate the effectiveness of the proposed controller.

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Anti-unwinding adaptive super-twisting attitude control for spacecraft

Yang

et al. 2023

International Journal of Control

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Velocity‐free coordinated attitude synchronisation and tracking control of multiple spacecraft

Cited by 5 publications

References 37 publications

Attitude Synchronization of a Group of Rigid Bodies Using Exponential Coordinates

Attitude Synchronization of a Group of Rigid Bodies Using Exponential Coordinates

Attitude tracking control for observation spacecraft flying around the target spacecraft

Anti-unwinding adaptive super-twisting attitude control for spacecraft

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