Network-Based Tracking Control of Spacecraft Formation Flying with Communication Delays


The formation tracking problem for multiple spacecraft in the framework of networked control systems (NCSs) is investigated. A reference trajectory is generated by the force-free linearized equations of the relative motion (referred to as Hill's equations). A sampled-knowledge representation of the NCS is taken into account for the tracking control of relative motion between the leader and follower spacecraft within the presence of variable communication delays and bounded external disturbances. By adding a buffer which is longer than the worst case delay and augmenting the system model to incorporate past values of system input as additional states, a brand new discrete time-invariant model is formulated, and a digital controller is developed to guarantee the exponentially uniformly ultimate boundedness (UUB) of the tracking errors and to ensure desired formation objectives. Numerical simulations are presented to demonstrate the effectiveness of the controller. The proposed controller is successful in establishing projected circular formation with the utmost magnitude of the steady-state tracking error 0.056 and therefore the control forces remain bounded at intervals 50 mN.

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