Spacecraft coordination control in 6DOF: Integrator backstepping vs passivity-based control |
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| Authors: | Raymond Kristiansen [Author Vitae] Per Johan Nicklasson [Author Vitae] |
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| Affiliation: | a Department of Computer Science, Electrical Engineering and Space Technology, Narvik University College, N-8505 Narvik, Norway
b Department of Engineering Cybernetics, Norwegian University of Science and Technology, N-7034 Trondheim, Norway |
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| Abstract: | In this paper, we present three nonlinear control solutions for 6DOF spacecraft formation control, adopted from Euler-Lagrange system theory. The quaternion parametrization results in dual equilibrium points in the closed loop system, and the controllers are proved to render these uniformly asymptotically stable. We also present a theoretical comparison of the three control solutions, together with simulation results to visualize the performance of the controllers. |
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| Keywords: | Spacecraft control Formation flying Passivity-based control Sliding surface Backstepping design |
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