具有随机多跳时变时延的多航天器协同编队姿态一致性

Aiming at the attitude consensus of multi-spacecraft cooperative formation with stochastic multi-hop timevarying delay, a static controller that eliminates the influence of the time-varying delay of stochastic multi-hop time-varying delay and realizes the consensus of attitude angular velocity of multi-spacecraft cooperative formation cooperative formation as well as the effective tracking of attitude angular is designed in this paper. Firstly, based on the theory of digraph theory, dynamic equations of the leader-follower error system is deduced. Secondly, by constructing a suitable Lyapunov function, the regulator problem of the error system is transformed into the existence of the solution to the linear matrix inequalities. Finally, the static controller design of cooperative formation attitude control system is completed by solving linear matrix inequality. Theoretical analysis shows that the designed controller can effectively eliminate the effect of time-varying delay of random multi-hop and realize the attitude consensus of multi-spacecraft cooperative formation. The numerical simulation verifies the correctness and effectiveness of the proposed method.