This paper proposes an adaptive tracking control scheme for multi-spacecraft formation with inter-collision avoidance, obstacle dodging, and connectivity preservation. The proposed scheme is distributed, i.e., each spacecraft only needs to communicate with its neighbours. Both connectivity preservation and distributed networking are critical features for small spacecraft formation with limited computation and communication capacities. New artificial potential functions are defined to preserve the connectivity of neighbour spacecraft while avoiding their inter-collision as well as collision with obstacles. An adaptive sliding-mode controller is designed for reaching and maintaining the predetermined formation configuration while satisfying the safety assurance requirements, including inter-collision avoidance, obstacle dodging, and connectivity preservation. The stability of the controller is proven through the Lyapunov analysis, in the presence of gravitational, solar radiation pressure, and atmosphere drag perturbations and dynamic uncertainties. The performance of the control scheme is demonstrated through several comparative simulation studies.

提出了一种避免碰撞，避障和保持连通性的多航天器编队自适应跟踪控制方案。提议的方案是分布式的，即每个航天器仅需要与其邻居通信。对于具有有限的计算和通信能力的小型航天器而言，连接性保留和分布式网络都是关键特征。定义了新的人工势函数，以保持相邻航天器的连通性，同时避免它们之间的碰撞以及与障碍物的碰撞。自适应滑模控制器设计用于达到并维持预定的编队配置，同时满足安全保证要求，包括避免碰撞，避障，和连接保留。在重力，太阳辐射压力，大气阻力扰动和动态不确定性的存在下，通过Lyapunov分析证明了控制器的稳定性。通过一些比较仿真研究证明了该控制方案的性能。