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Guiming Li,Liangdong Liu
Procedia Engineering, Volume 29, 2012
Abstract
We address the robust adaptive coordinated attitude control problem (CACP) for formation spacecraft with model and disturbance uncertainties, and with unknown constant time delays existing in the information exchanged channels. Here, spacecraft attitude is described via quaternion, and the local relative attitude is obtained in non-convex space, i.e., on the nonlinear manifold-Lie Group. Unlike in existing designs, where constant delays must be explicit and bounded, our novel laws, by injecting a nonlinear term, solve the CACP with disturbances and unknown/large constant communication delays. To overcome model uncertainties, the adaptive method is adopted. The closed-loop systems are investigated based on the Lyapunov-Krasovskii theory and Barbalat Lemma, and a spacecraft formation is conducted to demonstrate the effectiveness of theoretical results.
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