Full-Order Sliding Mode Control for Finite-Time Attitude Synchronization of Rigid Spacecraft with Input Delay

Yunhan Li1, Chunyan Wang1, Jianan Wang1, Zhou Gu2, Jiayuan Shan1, Zhuoyue Song1

  • 1Beijing Institute of Technology
  • 2Nanjing Forestry University

Details

11:10 - 11:30 | Mon 19 Aug | Lau, 5-206 | MoA5.3

Session: New Developments in Multi-Agent Coordination

Abstract

This paper investigates finite-time attitude consensus of multi-spacecraft systems with input delay using full-order sliding mode control. First, the kinematic and dynamic models of spacecraft attitude with disturbance are provided. Then, full-order sliding mode protocol is used to solve the consensus problem. The algorithm is consisted of two layers of sliding mode surfaces, the outer terminal sliding mode manifold and inner fast nonsingular terminal sliding mode manifold. On basis of the control algorithm, this paper considers the input delay of the system, thus a distributed observer is proposed to reduce communication burden and guarantee finite-time convergence, which is proved by Lyapunov stability analysis. Finally, a simulation example is provided to demonstrate the validity the proposed control algorithm.