期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 66, 期 8, 页码 3848-3855出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2020.3030866
关键词
Space vehicles; Topology; Switches; Delays; Observers; Time-varying systems; Formation tracking; multiagent systems; sliding mode observer; spacecraft system
资金
- National Natural Science Foundation of China [62073268]
- National Defense Basic Scientific Research Project of China [XM2020XT1003]
This article investigates a method for the time-varying practical formation problem for spacecrafts subjected to switching topologies and time-delays. It designs a sliding mode observer and formation tracking protocol, and establishes sufficient conditions to ensure the system achieves the goal of time-varying formation with switching topologies. An example is provided to demonstrate the effectiveness of the proposed methodology.
In this article, the time-varying practical formation problem is investigated for a group of spacecrafts subjected to switching topologies, and time-delays. First, a sliding mode observer is designed to estimate the derivatives of time-varying delays. In virtue of the self-stable region, the sufficient condition is provided to guarantee that the error dynamics of the super-twisting sliding mode observer is convergent. Then, the sliding-mode-observer-based formation tracking protocol is designed using position, and velocity of the neighboring agents with time-varying delays. Sufficient conditions are established in terms of average dwell time such that the studied multispacecraft system could achieve the goal of time-varying formation with switching topologies. Finally, an example on the multispacecraft system is provided to illustrate effectiveness of the proposed methodology.
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