Adaptive Cooperative Control for Satellites Formation Flying Using Virtual Structure

Aiming at the cooperative control problem of satellites formation flying with mass,inertia uncertainties and external disturbances,an adaptive cooperative control method using virtual structure was proposed.Firstly,through the description of the virtual structure mode,the expressions between the virtual structure state variables and the desired states of the formation satellites were built.Secondly,the position and attitude adaptive cooperative controllers of the formation satellites and the virtual structure were designed.By introducing the state errors of the formation satellites to the virtual structure controllers,the feedback from the formation satellites to the virtual structure was realized.Besides,the closed-loop system stability and the controllers bounded disturbances suppression were proved by using Barbalat lemma.Finally,the three-satellite formation cooperative maneuver and directive declination were simulated with the designed controllers.The results show that the designed controllers can adaptively estimate the satellite mass and inertial,and drive the control errors of the position and attitude to zero,which verify the method s effectiveness.