Finite-time fuzzy game-based attitude control for on-orbit cooperative transporting

Substructure transporting is an important phase for on-orbit assembly. This paper investigates a problem of designing a control approach for multiple transporting agents attached to one substructure, so as to complete the task of attitude tracking and stabilization of the substructure in the transportation process. A finite-time fuzzy game control method is developed to solve this problem. Using the framework of differential game, a finite-time nonlinear game is formulated based on the individual performance index functions of agents and attitude dynamics of the combination consisting of transporting agents and the substructure, which can reflect the cooperation and coordination between agents. In order to realize finite-time convergence which is more suitable for engineering requirement, a speed function is introduced to transfer finite-time game into infinite-time game. Considering the limited computational ability of agents, Takagi-Sugeno (T-S) fuzzy is incorporated to divide the nonlinear game problem into weighted average of multiple linear games which are easy to get the Nash equilibrium. Numerical simulations validate the efficiency of the proposed method for attitude control and the advantage in less calculation and better performance in dynamics and steady state than the existing methods.