The consensus problem of the distributed attitude synchronization in the spacecraft formation flying is considered.Firstly,the attitude dynamics of a rigid body spacecraft is described by modified Rodriguez parameters...The consensus problem of the distributed attitude synchronization in the spacecraft formation flying is considered.Firstly,the attitude dynamics of a rigid body spacecraft is described by modified Rodriguez parameters（MRPs）.Then global stable distributed cooperative attitude control laws are proposed for different cases.In the first case,the control law guarantees the state consensus during the attitude synchronization.In the second case,the control law ensures both the attitudes synchronizing to a desired constant attitude and the angular velocities converging at zero.In the third case,an attitude consensus control law with bounded control input is proposed.Finally,the effectiveness and validity of the control laws are demonstrated by simulations of six rigid bodies formation flying.展开更多
A group of cooperative agents can finish complicated missions that are difficult for a large machine.In the past two decades,spacecraft attitude coordination has attracted significant research attention owing to its w...A group of cooperative agents can finish complicated missions that are difficult for a large machine.In the past two decades,spacecraft attitude coordination has attracted significant research attention owing to its wide potential applications.This paper presents a survey of recent research progress on the spacecraft attitude consensus problem,paying particular attention to the papers published in major aerospace,dynamics,automation,and robotics journals since 2015.Attitude consensus concepts for centralized,decentralized,and distributed cases are reviewed.This overview summarizes results on system dynamics and consensus algorithms based on frequently used attitude representations,such as Euler angles,modified Rodrigues parameters,unit quaternions,and rotation matrices.Studies conducted under complicated operating conditions are also covered.Experimental results on attitude consensus are discussed.In the final section,the main conclusions are drawn and several potential research directions are provided.展开更多
In this paper,for Multi-Spacecraft System(MSS)with a directed communication topology link and a static virtual leader,a controller is proposed to realize attitude consensus and attitude stabilization with stochastic l...In this paper,for Multi-Spacecraft System(MSS)with a directed communication topology link and a static virtual leader,a controller is proposed to realize attitude consensus and attitude stabilization with stochastic links failure and actuator saturation.First,an MSS attitude error model suitable for a directed topology link and with a static virtual leader based on SO(3)is derived,which considers that the attitude error on SO(3)cannot be defined based on algebraic subtraction.Then,we design a controller to realize the MSS on SO(3)with attitude consensus and attitude stabilization under stochastic links failure and actuator saturation.Finally,the simulation results of a multi-spacecraft system with stochastic links failure and a static virtual leader spacecraft are demonstrated to illustrate the efficiency of the attitude controller.展开更多
基金supported by the National Science Foundation of China (6097406260972119)the Chinese Ministry of Science and Intergovernmental Cooperation Project(2009DFA12870)
文摘The consensus problem of the distributed attitude synchronization in the spacecraft formation flying is considered.Firstly,the attitude dynamics of a rigid body spacecraft is described by modified Rodriguez parameters（MRPs）.Then global stable distributed cooperative attitude control laws are proposed for different cases.In the first case,the control law guarantees the state consensus during the attitude synchronization.In the second case,the control law ensures both the attitudes synchronizing to a desired constant attitude and the angular velocities converging at zero.In the third case,an attitude consensus control law with bounded control input is proposed.Finally,the effectiveness and validity of the control laws are demonstrated by simulations of six rigid bodies formation flying.
基金This work was supported by the National Natural Science Foundation of China under Grant No.12102174the Science and Technology on Space Intelligent Control Laboratory(Grant No.2021-JCJQ-LB-010-17)+1 种基金the Fundamental Research Funds for the Central Universities(No.NP2022301)the Research Fund of State Key Laboratory of Mechanics and Control of Mechanical Structures(Nanjing University of Aeronautics and astronautics)(Grant No.MCMS-I-0122K01).
文摘A group of cooperative agents can finish complicated missions that are difficult for a large machine.In the past two decades,spacecraft attitude coordination has attracted significant research attention owing to its wide potential applications.This paper presents a survey of recent research progress on the spacecraft attitude consensus problem,paying particular attention to the papers published in major aerospace,dynamics,automation,and robotics journals since 2015.Attitude consensus concepts for centralized,decentralized,and distributed cases are reviewed.This overview summarizes results on system dynamics and consensus algorithms based on frequently used attitude representations,such as Euler angles,modified Rodrigues parameters,unit quaternions,and rotation matrices.Studies conducted under complicated operating conditions are also covered.Experimental results on attitude consensus are discussed.In the final section,the main conclusions are drawn and several potential research directions are provided.
基金supported in part by the National Natural Science Foundation of China(Nos.U20B2054,U20B2056 and 62103275)the Natural Science Foundation of Shanghai,China(No.23ZR1432400)。
文摘In this paper,for Multi-Spacecraft System(MSS)with a directed communication topology link and a static virtual leader,a controller is proposed to realize attitude consensus and attitude stabilization with stochastic links failure and actuator saturation.First,an MSS attitude error model suitable for a directed topology link and with a static virtual leader based on SO(3)is derived,which considers that the attitude error on SO(3)cannot be defined based on algebraic subtraction.Then,we design a controller to realize the MSS on SO(3)with attitude consensus and attitude stabilization under stochastic links failure and actuator saturation.Finally,the simulation results of a multi-spacecraft system with stochastic links failure and a static virtual leader spacecraft are demonstrated to illustrate the efficiency of the attitude controller.
