Leader-following adaptive consensus of multiple uncertain rigid spacecraft systems

Abstract

The existing results on the leader-following attitude consensus for multiple rigid spacecraft systems assume that all the parameters of the spacecraft systems are known exactly and the information flow among the followers is bidirectional. In this paper, we remove these two assumptions. First, by introducing a new Lyapunov function, we allow the communication network to be directed. Second, we convert the leader-following consensus problem into an adaptive stabilization problem of a well defined error system. Then, under the standard assumption that the state of the leader system can reach every follower through a directed path, we further show that this stabilization problem is solvable by a distributed adaptive control law. Moreover, we also present the sufficient condition for guaranteeing the convergence of the estimated parameters to the unknown actual parameters.

创新点

现有文献针对主从式刚性航天器群的一致性控制问题受限于两个假设。一是系统参数须精确已知。二是航天器间需要双向通信。本文提出新的控制算法以去掉此两种假设。首先,通过设计新的李雅普诺夫函数,使得航天器间的双向通信不再必要。其次,将原有的一致性问题转化为误差动态系统的镇定问题,并提出一种分布式自适应算法实现系统的镇定。另外,本文给出了保证估计参数收敛到真实值的充分条件。