Decentralized sliding-mode control for attitude synchronization in spacecraft formation


Correspondence to: DanweiWang, School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue 639798, Singapore.



This paper addresses attitude synchronization and tracking problems in spacecraft formation in the presence of model uncertainties and external disturbances. A decentralized adaptive sliding mode control law is proposed using undirected interspacecraft communication topology and analyzed based on algebraic graph theory. A multispacecraft sliding manifold is derived, on which each spacecraft approaches desired time-varying attitude and angular velocity while maintaining attitude synchronization with the other spacecraft in the formation. A control law is then developed to ensure convergence to the sliding manifold. The stability of the resulting closed-loop system is proved by application of Barbalat's Lemma. Simulation results demonstrate the effectiveness of the proposed attitude synchronization and tracking methodology. Copyright © 2012 John Wiley & Sons, Ltd.