Full-order sliding mode control for finite-time attitude synchronization of rigid spacecraft with input delay

This paper investigates finite-time attitude consensus of multi-spacecraft systems with input delay using fullorder sliding mode control. First, the kinematic and dynamic models of spacecraft attitude with disturbance are provided. Then, full-order sliding mode protocol is used to solve the consensus problem. The algorithm is consisted of two layers of sliding mode surfaces, the outer terminal sliding mode manifold and inner fast nonsingular terminal sliding mode manifold. On basis of the control algorithm, this paper considers the input delay of the system, thus a distributed observer is proposed to reduce communication burden and guarantee finite-time convergence, which is proved by Lyapunov stability analysis. Finally, a simulation example is provided to demonstrate the validity the proposed control algorithm.

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