Distributed RISE control for spacecraft formation reconfiguration with collision avoidance. Issue 10 (July 2019)

• Record Type: Journal Article
• Authors: Guo, Yaohua; Zhou, Jun; Liu, Yingying
• Is Part Of: Journal of the Franklin Institute. Volume 356:Issue 10(2019)
• Page Start: 5332
• Page End: 5352
• Publication Date: 2019-07
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2019.05.003
• Languages: English
• ISSNs: 0016-0032

Abstract

Highlights: Nonlinearity issue of the relative motion under external disturbances is dealt for precise formation. We use an auxiliary input to escape from local minima in artificial potential function based spacecraft reconfiguration controller. Collision avoidance, formation reconfiguration, and robustness against external disturbances are guaranteed simultaneously. Distributed (RISE) technique is used to obtain continuous control inputs for spacecraft that can also be extended to handle saturated input. Abstract: In this paper, we investigate the distributed formation reconfiguration problem of multiple spacecraft with collision avoidance in the presence of external disturbances. Artificial potential function (APF) based virtual velocity controllers for the spacecraft are firstly constructed, which overcome the local minima problem through introducing auxiliary inputs weighted by bump functions. Then, based on the robust integral of the sign of the error (RISE) control methodology, a distributed continuous asymptotic tracking control protocol is proposed, accomplishing both formation reconfiguration and the collision avoidance among spacecraft and with obstacles. Furthermore, using tools from graph theory, Lyapunov analysis and backstepping technique, we show the stability and collision avoidance performance of the closed-loop multiple spacecraft system. Numerical simulations for a spacecraft formation are finally provided to validate the effectiveness of the proposed algorithm.