In this paper, the attitude tracking control of spacecraft formation is studied when the velocities of spacecrafts are unmeasurable. Firstly, a Finite-Time Extended State Observer (FTESO) is constructed to estimate the unmeasured angular velocity and compensate the external disturbance for each spacecraft. Secondly, a chattering free distributed consensus controller which did not require inversion of Laplacian matrix is proposed based on FTESO and Integral Nonsingular Terminal Sliding Mode (INTSM). It is proved that the proposed consensus controller can realize finite-time attitude tracking control of spacecraft by the Lyapunov stability theory. Finally, a simulation example with one leader and four followers is given. The simulation results show that the proposed consensus controller can eliminate system chattering, and provide fast finite-time convergence performance and high precision tracking.

中文翻译：

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角速度不可测航天器编队系统姿态跟踪的无颤动分布式一致性控制

本文研究了航天器速度不可测时航天器编队的姿态跟踪控制。首先，构建有限时间扩展状态观测器（FTESO）来估计未测量的角速度并补偿每个航天器的外部干扰。其次，基于FTESO和积分非奇异终端滑动模式（INTSM），提出了一种不需要拉普拉斯矩阵求逆的无抖动分布式共识控制器。通过李雅普诺夫稳定性理论证明了所提出的一致性控制器可以实现航天器的有限时间姿态跟踪控制。最后，给出了一个具有一个领导者和四个追随者的模拟示例。仿真结果表明，所提出的共识控制器可以消除系统抖动，