复杂约束下的编队姿态有限时间协同控制方法

The attitude coordination control problem for the spacecraft formation flying with the angular velocity-free measurement, external disturbances and inertia uncertainties is investigated. For the single spacecraft attitude control, a finite-time nonlinear observer is utilized to estimate the unmeasured angular velocity and unknown lumped disturbance. With the proposed sliding-mode control protocol, the global finite-time convergence of the attitude tracking errors is guaranteed via the Lyapunov analysis. Subsequently, the above result is extended to the formation case. The unknown input saturation is also considered and its finite-time attitude sliding-mode control coordination protocol is combined. The effectiveness of the protocol is validated by the numerical simulation.