Distributed coordination control for multiple spacecraft with coupled attitude and orbit dynamics under the directed graph

This paper utilizes the dual quaternions and the basic principles of mechanics, and provides the coupled dynamic model while the coupling problem of attitude and orbit is considered in multiple spacecraft cooperative flying. It is assumed that the reference information can be obtained by only part of spacecraft, and the communication topology diagram is established. Combining the consensus theory, a distributed coordination coupled tracking control law is put forward. Meanwhile, the proposed control law is improved considering the existence of communication delay and dynamic switching of information topology. Finally, Lyapunov theory is employed to analyse the system stability, which indicates that the control law designed can make the attitude and orbit state of each spacecraft converge to the reference value. Simulation illustrates the effectiveness of the control law proposed.