Abstract
In this article, the time-varying practical formation problem is investigated for a group of spacecrafts subjected to switching topologies, and time-delays. First, a sliding mode observer is designed to estimate the derivatives of time-varying delays. In virtue of the self-stable region, the sufficient condition is provided to guarantee that the error dynamics of the super-twisting sliding mode observer is convergent. Then, the sliding-mode-observer-based formation tracking protocol is designed using position, and velocity of the neighboring agents with time-varying delays. Sufficient conditions are established in terms of average dwell time such that the studied multispacecraft system could achieve the goal of time-varying formation with switching topologies. Finally, an example on the multispacecraft system is provided to illustrate effectiveness of the proposed methodology.
Original language | English |
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Article number | 9222221 |
Pages (from-to) | 3848-3855 |
Number of pages | 8 |
Journal | IEEE Transactions on Automatic Control |
Volume | 66 |
Issue number | 8 |
DOIs | |
State | Published - Aug 2021 |
Keywords
- Formation tracking
- multiagent systems
- sliding mode observer
- spacecraft system