Applying multi-scale b-harris algorithm to vision based navigation for spacecraft

A method for designing robust tracking controllers is proposed in this paper for a class of large-scale interconnected linear systems with uncertainties and time-delays. If the uncertainties satisfy the matching conditions, we can construct a decentralized tracking controller by using the solution of the Riccati equation. With the decentralized controller, the closed-loop system will asymptotically track the reference input, even if the systems contain time-delays in both states and controls. Numerical simulation results and their analysis have demonstrated the effectiveness of the approach proposed.