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Connectivity Preservation and Obstacle Avoidance in Small Multi-Spacecraft Formation with Distributed Adaptive Tracking Control

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Abstract

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.

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Acknowledgements

The authors acknowledge the financial support of the China Scholarship Council [grant # 201906020129] as well as the provisions by the University of Toronto.

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  1. School of Astronautics, Beihang University, Beijing, 100191, China

    Zhongyuan Chen & Wanchun Chen

  2. Institute for Aerospace Studies, University of Toronto, Toronto, M3H 5T6, Canada

    Zhongyuan Chen & M. Reza Emami

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Chen, Z., Emami, M.R. & Chen, W. Connectivity Preservation and Obstacle Avoidance in Small Multi-Spacecraft Formation with Distributed Adaptive Tracking Control. J Intell Robot Syst 101, 16 (2021). https://doi.org/10.1007/s10846-020-01269-y

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