Distributed coordinated attitude tracking control of spacecraft formation with dynamic leader under communication delays

This paper is dedicated to the challenging issue of the cooperative attitude tracking control of spacecraft formations under communication delays. A state estimator using the attitude information of the neighbors is designed for each follower spacecraft to estimate the time-varying attitude information of the leader spacecraft in the case that the leader spacecraft cannot directly communicate with all following spacecraft. By constructing auxiliary variables based on estimated values and proposing a fixed-time control law to ensure that the auxiliary variables of the spacecraft can reach zero in fixed time, which is independent of the initial state, the effects of time-varying reference attitudes on the system can be reduced. The attitude error and the estimation error are proven to converge to the region containing the origin by input-to-state stability theory combined with the Lyapunov-Krasovskii approach. To further illustrate the effectiveness of the proposed control algorithm, numerical simulation results are presented.