Distributed almost global finite-time attitude consensus of multiple spacecraft without velocity measurements

作者：Gui, Haichao^*; Vukovich, George

来源：Aerospace Science and Technology, 2018, 75: 284-296.

DOI：10.1016/j.ast.2017.12.015

• Attitude consensus
• Finite-time control
• Output feedback
• Input saturation
• Unwinding

This paper addresses the attitude consensus problem of multiple rigid bodies in terms of the unit quaternion parameterization. By employing Lyapunov theory and homogeneous techniques, distributed finite-time attitude consensus laws are proposed for leader-following and leaderless multi-agent systems, with full-state (i.e., attitude plus angular velocity) or attitude-only measurements. Specifically, sliding mode observers are used to estimate the leader's information in finite time for followers without direct access to the leader. The so-called "separation principle" is then established between the observers and the consensus controllers. In addition, quaternion filtering systems are constructed to inject the necessary damping into the closed-loop system when angular velocity measurements are absent. In all scenarios, the proposed methods ensure almost global finite-time convergence, avoid the unwinding problem, and yield continuous control torques with a priori known bounds. Numerical examples demonstrate the effectiveness of the proposed methods.

• 出版日期2018-4
• 单位北京航空航天大学