Cooperative Control for Satellite Formation Reconfiguration via Cyclic Pursuit Strategy

2014 ◽  
Vol 875-877 ◽  
pp. 1153-1159 ◽  
Author(s):  
Tao Yang ◽  
Zheng Dong Hu ◽  
Li Bo Yang
Keyword(s):  
Phase Angle ◽  
Cooperative Control ◽  
Movement Control ◽  
Control Law ◽  
Low Thrust ◽  
Orthogonal Direction ◽  
Formation Reconfiguration ◽  
Cyclic Pursuit ◽  
Planar Movement ◽  
Pursuit Strategy

This paper investigates a methodology for group coordination and cooperative control of satellites with the aim to achieve formation reconfiguration such as radius enlargement and phase angle adjustment. The proposed approach separates the control law into two distinct stages: planar movement control and orthogonal displacement suppression. The in plane approach is based on a cyclic pursuit strategy, where satellite i pursues satellite i +1. For phase angle adjustment, a control law that makes use of beacons guidance is synthesized to maintain the circling centre stationary. In the orthogonal direction, a linear feed back control on displacement and velocity is used. Simulation of two missions with low thrust are provided, which high light the over all effectiveness of the proposed approach.

Cooperative Tracking Control for Formation Keeping of Fractionated Spacecraft Based on Error Exchanging

2014 ◽  
Vol 1016 ◽  
pp. 649-654
Author(s):  
Ya Feng Niu ◽  
Yong Ming Gao
Keyword(s):  
Tracking Control ◽  
Cooperative Control ◽  
Sliding Mode ◽  
Control Law ◽  
Velocity Information ◽  
The Stability ◽  
Cooperative Tracking ◽  
Fractionated Spacecraft ◽  
High Degree ◽  
Formation Keeping

This paper discusses the cooperative control for formation keeping of fractionated spacecraft, which is a new concept in recent years. For system of second-order differential equations of formation flying dynamics, knowledge of graph and consensus theory is introduced in study. By means of the idea of sliding mode control, we design a tracking control law for time-varying desired signal. Via exchanging error information among modules, the control law can make errors synchronized up to zero to achieve tracking. Relative velocity information between modules is not needed in this control law, which will efficiently reduce the requirements for relative navigation between modules. Then we prove the stability of the control system. Finally numerical simulation results show the effectiveness of the control law. By configuring the control parameters reasonably, we can achieve high degree of control accuracy.

Distributed Synchronous Formation Reconfiguration via Low-Thrust

2021 ◽  
Author(s):  
Shao Jiang ◽  
Song Yingying ◽  
Zhou Qingrui ◽  
Ye Dong ◽  
Sun Zhaowei
Keyword(s):  
Low Thrust ◽  
Formation Reconfiguration

scholarly journals Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths

2015 ◽  
Vol 2015 ◽  
pp. 1-17 ◽  
Author(s):  
J. F. Flores-Resendiz ◽  
E. Aranda-Bricaire ◽  
J. González-Sierra ◽  
J. Santiaguillo-Salinas
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Formation Control ◽  
Vector Fields ◽  
Control Law ◽  
Closed Loop System ◽  
Focus Structure ◽  
Communication Graphs ◽  
Cyclic Pursuit ◽  
Unstable Focus

This paper addresses the formation control problem without collisions for multiagent systems. A general solution is proposed for the case of any number of agents moving on a plane subject to communication graph composed of cyclic paths. The control law is designed attending separately the convergence to the desired formation and the noncollision problems. First, a normalized version of the directed cyclic pursuit algorithm is proposed. After this, the algorithm is generalized to a more general class of topologies, including all the balanced formation graphs. Once the finite-time convergence problem is solved we focus on the noncollision complementary requirement adding a repulsive vector field to the previous control law. The repulsive vector fields display an unstable focus structure suitably scaled and centered at the position of the rest of agents in a certain radius. The proposed control law ensures that the agents reach the desired geometric pattern in finite time and that they stay at a distance greater than or equal to some prescribed lower bound for all times. Moreover, the closed-loop system does not exhibit undesired equilibria. Numerical simulations and real-time experiments illustrate the good performance of the proposed solution.

Formation Control Protocols for Nonlinear Dynamical Systems Via Hybrid Stabilization of Sets

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Wassim M. Haddad ◽  
Sergey G. Nersesov ◽  
Qing Hui ◽  
Masood Ghasemi
Keyword(s):  
Dynamical Systems ◽  
Cooperative Control ◽  
Formation Control ◽  
Nonlinear Dynamical Systems ◽  
Continuous System ◽  
Nonlinear Dynamical ◽  
System Formation ◽  
Hybrid Stabilization ◽  
Cyclic Pursuit ◽  
Control Protocols

In this paper, we develop a hybrid control framework for addressing multiagent formation control protocols for general nonlinear dynamical systems using hybrid stabilization of sets. The proposed framework develops a novel class of fixed-order, energy-based hybrid controllers as a means for achieving cooperative control formations, which can include flocking, cyclic pursuit, rendezvous, and consensus control of multiagent systems. These dynamic controllers combine a logical switching architecture with the continuous system dynamics to guarantee that a system generalized energy function whose zero level set characterizes a specified system formation is strictly decreasing across switchings. The proposed approach addresses general nonlinear dynamical systems and is not limited to systems involving single and double integrator dynamics for consensus and formation control or unicycle models for cyclic pursuit. Finally, several numerical examples involving flocking, rendezvous, consensus, and circular formation protocols for standard system formation models are provided to demonstrate the efficacy of the proposed approach.

A generalized hierarchical nearly cyclic pursuit for the leader-following consensus problem in multi-agent systems

2017 ◽  
Vol 40 (5) ◽  
pp. 1529-1537 ◽  
Author(s):  
Muhammad Iqbal ◽  
John Leth ◽  
Trung D Ngo
Keyword(s):  
Convergence Rate ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Cyclic Pursuit ◽  
Leader Following ◽  
Multi Agent ◽  
Simulation Results ◽  
Pursuit Strategy

In this paper, we solve the leader-following consensus problem using a hierarchical nearly cyclic pursuit (HNCP) strategy for multi-agent systems. We extend the nearly cyclic pursuit strategy and the two-layer HNCP to the generalized L-layer HNCP that enables the agents to rendezvous at a point dictated by a beacon. We prove that the convergence rate of the generalized L-layer HNCP for the leader-following consensus problem is faster than that of the nearly cyclic pursuit. Simulation results demonstrate the effectiveness of the proposed method.

scholarly journals A Study of Balanced Circular Formation under Deviated Cyclic Pursuit Strategy

2015 ◽  
Vol 48 (5) ◽  
pp. 41-46 ◽  
Author(s):  
Galib R. Mallik ◽  
Arpita Sinha
Keyword(s):  
Cyclic Pursuit ◽  
Pursuit Strategy

An Observer-Free Output Feedback Cooperative Control Architecture for Multivehicle Systems

2017 ◽  
Author(s):  
Ali Albattat ◽  
Tansel Yucelen ◽  
Benjamin C. Gruenwald ◽  
S. Jagannathan
Keyword(s):  
Output Feedback ◽  
Cooperative Control ◽  
Output Feedback Control ◽  
Control Architecture ◽  
Control Law ◽  
Containment Problem ◽  
Theoretical Contribution ◽  
State Space Realization ◽  
Space Realization ◽  
Multivehicle Systems

The contribution of this paper is a new, observer-free output feedback cooperative control architecture for continuous-time, minimum phase, and high-order multivehicle systems in the context of a containment problem (i.e., outputs of the follower vehicles convergence to the convex hull spanned by those of the leader vehicles). The proposed architecture is predicated on a nonminimal state-space realization that generates an expanded set of states only using the filtered input and filtered output and their derivatives for each follower vehicle, without the need for designing an observer for each vehicle. Specifically, the proposed observer-free output feedback control law consists of a vehicle-level controller and a local cooperative controller for each vehicle, where the former addresses internal stability of vehicles and the latter addresses the containment problem. Two illustrative numerical examples complement the proposed theoretical contribution.

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