Chaoyong Li and Zhihua Qu
Attitude synchronization, cooperative control, switching topology, Lyapunov function
This paper studies the application of nonlinear cooperative control theory to the attitude synchronization problem. To this end, explicit conditions, in terms of vector nonlinear differential inequalities, is presented firstly to ensure both the Lyapunov stability and asymp- totically cooperative stability for a certain class of heterogeneous nonlinear system. Then, decentralized control algorithm incorpo- rated with standard backstepping scheme is developed to accomplish attitude synchronization for a group of spacecraft with rigid body dynamics described by unit quaternion. In particular, the proposed control system imposes the least restriction on the communication, a piecewise constant, intermittently available, and sequentially com- plete topology is theoretically enough to ensure the cooperative stability. Simulation results demonstrate the effectiveness of the proposed control algorithms.
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