Target-enclosing affine formation control of two-layer networked spacecraft with collision avoidance

Yang XU, Delin LUO, Dongyu LI, Yancheng YOU, Haibin DUAN

Research output: Contribution to journalArticlepeer-review

47 Scopus citations

Abstract

This paper addresses a target-enclosing problem for multiple spacecraft systems by proposing a two-layer affine formation control strategy. Compared with the existing methods, the adopted two-layer network structure in this paper is generally directed, which is suitable for practical space missions. Firstly, distributed finite-time sliding-mode estimators and formation controllers in both layers are designed separately to improve the flexibility of the formation control system. By introducing the properties of affine transformation into formation control protocol design, the controllers can be used to track different time-varying target formation patterns. Besides, multi-layer time-varying encirclements can be achieved with particular shapes to surround the moving target. In the sequel, by integrating adaptive neural networks and specialized artificial potential functions into backstepping controllers, the problems of uncertain Euler-Lagrange models, collision avoidance as well as formation reconfiguration are solved simultaneously. The stability of the proposed controllers is verified by the Lyapunov direct method. Finally, two simulation examples of triangle formation and more complex hexagon formation are presented to illustrate the feasibility of the theoretical results.

Original languageEnglish
Pages (from-to)2679-2693
Number of pages15
JournalChinese Journal of Aeronautics
Volume32
Issue number12
DOIs
StatePublished - Dec 2019
Externally publishedYes

Keywords

  • Affine formation control
  • Collision avoidance
  • Lyapunov stability
  • Target enclosing
  • Two-layer strategy

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