Research Papers

Cyclic Constraint Analysis for Attitude Synchronization of Networked Spacecraft Agents

[+] Author and Article Information
Hanlei Wang

e-mail: hlwang.bice@gmail.com

Yongchun Xie

e-mail: xieyongchun@vip.sina.com
Science and Technology on Space
Intelligent Control Laboratory,
Beijing Institute of Control Engineering,
Beijing 100190, China

Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received July 30, 2012; final manuscript received April 15, 2013; published online August 30, 2013. Assoc. Editor: Won-jong Kim.

J. Dyn. Sys., Meas., Control 135(6), 061019 (Aug 30, 2013) (8 pages) Paper No: DS-12-1240; doi: 10.1115/1.4024802 History: Received July 30, 2012; Revised April 15, 2013

In this paper, we investigate the attitude synchronization problem for multiple networked spacecraft, and the spacecraft agents are assumed to interact on an undirected and connected graph. We adopt a physically motivated PD-like attitude consensus scheme which takes Euler parameters or quaternions of the error orientation matrix between the spacecraft agents as the attitude deviation, resulting in nonlinear attitude coupling among the networked spacecraft agents and additionally multiple equilibria of the closed-loop networked system. The stability of the closed-loop networked system is shown by the Lyapunov stability analysis. To show the convergence of the attitude synchronization errors, we develop a new tool called cyclic constraint analysis. With this synthesis tool, we show that attitude synchronization is achieved without relying on any assumptions of the spacecraft orientations. Simulation study is presented to shed some light on the obtained results.

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Grahic Jump Location
Fig. 1

Three agents interacting on a ring graph

Grahic Jump Location
Fig. 2

An undirected cyclic network consisting of six spacecraft agents

Grahic Jump Location
Fig. 3

The networked potential (neglecting the factor kP) Pij = 1-qo(RjTRi) and the multiple equilibria of the networked system

Grahic Jump Location
Fig. 4

A connected graph with two nonisolated cycles

Grahic Jump Location
Fig. 5

The Euler parameter qv(1)(Ri) of the six agents

Grahic Jump Location
Fig. 6

The Euler parameter qo(Ri) of the six agents

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Fig. 7

The Euler parameter qo(Ri) of the six agents that uniformly distribute on a circle (starting from one unstable equilibrium of the networked system)

Grahic Jump Location
Fig. 8

The Euler parameter qo(Ri) of the six agents that interact on general connected graphs with two nonisolated cycles



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