Distributed Fixed-time Attitude Synchronization Control for Multiple Rigid Spacecraft

  • Wei-Shun SuiEmail author
  • Guang-Ren Duan
  • Ming-Zhe Hou
  • Mao-Rui Zhang


This paper investigates the distributed fixed-time attitude synchronization control problem for multiple rigid spacecraft system with external disturbances. Based on sliding-mode estimators, the authors remove the requirement of neighbours’ input control information. Using the fixed-time-based terminal sliding mode, the distributed adaptive control laws are developed to guarantee the attitude tracking errors converge to the regions in fixed time independent of initial conditions, and adaptive laws are employed to deal with external disturbances. Finally, numerical simulations are presented to illustrate the performance of the proposed controllers.


Attitude synchronization distributed adaptive control fixed-time-based terminal sliding mode sliding-mode estimator 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    J. Y. Tien, J. M. Srinivasan, L. E. Young, and G. H. Purcell, “Formation acquisition sensor for the terrestrial planet Ander (TPF) mission,” Proc. of the 2004 IEEE Aerospace Conference, pp. 2680–2690, 2004.Google Scholar
  2. [2]
    W. H. Kang and H. Yen, “Coordinated attitude control of multisatellite systems,” International Journal of Robust and Nonlinear Control, vol. 12, pp. 185–205, 2002.CrossRefGoogle Scholar
  3. [3]
    D. V. Dimarogonas, P. Tsiotras, and K. J. Kyriakopoulos, “Leader-follower cooperative attitude control of multiple rigid bodies,” Systems & Control Letters, vol. 58, no. 6, pp. 429–435, June 2009.MathSciNetCrossRefzbMATHGoogle Scholar
  4. [4]
    A. Abdessameud and A. Tayebi, “Attitude synchronization of a group of spacecraft without velocity measurements,” IEEE Trans, on Automatic Control, vol. 54, no. 11, pp. 2642–2648, November 2009.MathSciNetCrossRefzbMATHGoogle Scholar
  5. [5]
    A. M. Zou, K. D. Kumar, and Z. G. Hou, “Attitude coordination control for a group of spacecraft without velocity measurements,” IEEE Trans, on Control Systems Technology, vol. 20, no. 5, pp. 1160–1174, September 2012.CrossRefGoogle Scholar
  6. [6]
    A. Abdessameud, A. Tayebi, and I. G. Polushin, “Attitude synchronization of multiple rigid bodies with communication delays,” IEEE Trans, on Automatic Control, vol. 57, no. 9, pp. 2405–2411, September 2012.MathSciNetCrossRefzbMATHGoogle Scholar
  7. [7]
    A. M. Zou and K. D. Kumar, “Neural network-based distributed attitude coordination control for spacecraft formation flying with input saturation,” IEEE Trans, on Neural Networks and Learning Systems, vol. 23, no. 7, pp. 1155–1162, July 2012.CrossRefGoogle Scholar
  8. [8]
    Z. Zhu, Y. Xia, and M. Fu, “Attitude stabilization of rigid spacecraft with finite-time convergence,” International Journal of Robust and Nonlinear Control, vol. 21, no. 6, pp. 686–702, April 2011.MathSciNetCrossRefzbMATHGoogle Scholar
  9. [9]
    K. Lu and Y. Xia, “Adaptive attitude tracking control for rigid spacecraft with finite-time convergence,” Automatica, vol. 49, no. 12, pp. 3591–3599, December 2013.MathSciNetCrossRefzbMATHGoogle Scholar
  10. [10]
    E. D. Jin and Z. W. Sun, “Robust controllers design with finite time convergence for rigid spacecraft attitude tracking control,” Aerospace Science and Technology, vol. 12, no. 4, pp. 324–330, June 2008.CrossRefzbMATHGoogle Scholar
  11. [11]
    H. Liang, Z. Sun, and J. Wang, “Finite-time attitude synchronization controllers design for spacecraft formations via behavior-based approach,” Proceedings of the Institution of Mechanical Engineers Part G: Journal of Aerospace Engineering, vol. 227, no. 11, pp. 1737–1753, November 2013.CrossRefGoogle Scholar
  12. [12]
    H. Liang, Z. Sun, and J. Wang, “Robust decentralized attitude control of spacecraft formations under time-varying topologies, model uncertainties and disturbances,” Acta Astronautica, vol. 81, no. 2, pp. 445–455, December 2012.CrossRefGoogle Scholar
  13. [13]
    X. Yu and Z. Man, “Fast terminal sliding-mode control design for nonlinear dynamical systems,” IEEE Trans, on Circuits and Systems I, vol. 49, no. 2, pp. 261–264, February 2002.MathSciNetCrossRefzbMATHGoogle Scholar
  14. [14]
    A. M. Zou and K. Kumar, “Distributed attitude coordination control for spacecraft formation flying,” IEEE Trans, on Aerospace Electronic Systems, vol. 48, no. 2, pp. 1329–1346, April 2012.CrossRefGoogle Scholar
  15. [15]
    L. Yang and J. Y. Yang, “Nonsingular fast terminal slidingmode control for nonlinear dynamical systems,” International Journal of Robust and Nonlinear Control, vol. 21, no. 16, pp. 1865–1879, November 2011.MathSciNetCrossRefzbMATHGoogle Scholar
  16. [16]
    S. H. Yu, X. H. Yu, B. Shirinzadeh, and Z. H. Man, “Continuous finite-time control for robotic manipulators with terminal sliding mode,” Automatica, vol. 41, no. 11, pp. 1957–1964, November 2005.MathSciNetCrossRefzbMATHGoogle Scholar
  17. [17]
    L. Zhao and Y. M. Jia, “Decentralized adaptive attitude synchronization control for spacecraft formation using nonsingular fast terminal sliding mode,” Nonlinear Dynamics, vol. 78, no. 4, pp. 2779–2794, December 2014.CrossRefzbMATHGoogle Scholar
  18. [18]
    A. Polyakov, “Nonlinear feedback design for fixed-time stabilization of linear control systems,” IEEE Trans, on Automatic Control, vol. 57, no. 8, pp. 2106–2110, August 2012.MathSciNetCrossRefzbMATHGoogle Scholar
  19. [19]
    L. Ma, S. Wang, H. Min, Y. Liu, and S. Liao, “Distributed finite-time attitude dynamic tracking control for multiple rigid spacecraft,” IET Control Theory & Applications, vol. 9, no. 17, pp. 2568–2573, November 2015.MathSciNetCrossRefGoogle Scholar
  20. [20]
    P. C. Huges, Spacecraft Attitude Dynamics, Wiley, Hoboken, 1986.Google Scholar
  21. [21]
    H. Schaub, M. R. Akella, and J. L. Junkins, “Adaptive control of nonlinear attitude motions realizing linear closed loop dynamics,” Journal of Guidance Control and Dynamics, vol. 24, no. 1, pp. 95–100, January-February 2001.CrossRefGoogle Scholar
  22. [22]
    J. J. E. Slotine and M. D. D. Benedetto, “Hamiltonian adaptive control of spacecraft,” IEEE Trans, on Automatic Control, vol. 35, no. 7, pp. 848–852, July 1990.MathSciNetCrossRefzbMATHGoogle Scholar
  23. [23]
    A. F. Filippov, Differential Equations with Discontinuous Right-Hand Sides, Kluwer Academic, New York, 1988.CrossRefzbMATHGoogle Scholar
  24. [24]
    C. Song, S. J. Kim, S. H. Kim, and H. S. Nam, “Robust control of the missile attitude based on quaternion feedback,” Control Engineering Practice, vol. 14, no. 7, pp. 811–818, July 2006.CrossRefGoogle Scholar
  25. [25]
    Z. Y. Zuo and L. Tie, “A new class of finite-time nonlinear consensus protocols for multi-agent systems,” International Journal of Control, vol. 87, no. 2, pp. 363–370, February 2014.MathSciNetCrossRefzbMATHGoogle Scholar
  26. [26]
    Z. Y. Zuo, “Non-singular fixed-time terminal sliding mode control of non-linear systems,” IET Control Theory & Applications, vol. 9, no. 4, pp. 545–552, February 2015.MathSciNetCrossRefGoogle Scholar
  27. [27]
    S. Parsegov, A. Polyakov, and P. Shcherbakov, “Nonlinear fixed-time control protocol for uniform allocation of agents on a segment,” Proc. of the 51st Conf. Decision and Control, pp. 7732–7737, 2012.Google Scholar
  28. [28]
    K. F. Lu and Y. Q. Xia, “Finite-time attitude stabilization for rigid spacecraft,” International Journal of Robust and Nonlinear Control, vol. 25, no. 1, pp. 32–51, January 2015.MathSciNetzbMATHGoogle Scholar
  29. [29]
    M. Abramowitz and I. A. Stegun, Handbook of Mathematical Functions: with Formulas, Graphs, and Mathematical Tables, Dover, New York, 1972.zbMATHGoogle Scholar
  30. [30]
    J. J. Fu and J. Z. Wang, “Fixed-time coordinated tracking for second-order multi-agent systems with bounded input uncertainties,” Systems & Control Letters, vol. 93, pp. 1–12, July 2016.MathSciNetCrossRefzbMATHGoogle Scholar
  31. [31]
    S. Y. Khoo, L. H. Xie, and Z. H. Man, “Robust finite-time consensus tracking algorithm for multirobot systems,” IEEE Trans, on Mechatronics, vol. 14, no. 2, pp. 219–228, April 2009.CrossRefGoogle Scholar
  32. [32]
    W. Ren, “Distributed attitude alignment in spacecraft formation flying,” International Journal of Adaptive Control and Signal Processing, vol. 21, no. 2-3, pp. 95–113, March-April 2007.MathSciNetCrossRefzbMATHGoogle Scholar
  33. [33]
    J. K. Zhou, Q. L. Hu, and M. I. Friswell, “Decentralized finite time attitude synchronization control of satellite formation flying,” Journal of Guidance Control and Dynamics, vol. 36, no. 1, pp. 185–195, January-February 2015.CrossRefGoogle Scholar
  34. [34]
    H. B. Du and S. H. Li, “Finite-time attitude stabilization for a spacecraft using homogeneous method,” Journal of Guidance Control and Dynamics, vol. 35, no. 3, pp. 740–748, May-June 2012.CrossRefGoogle Scholar

Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  • Wei-Shun Sui
    • 1
    Email author
  • Guang-Ren Duan
    • 1
  • Ming-Zhe Hou
    • 1
  • Mao-Rui Zhang
    • 1
  1. 1.Center for Control Theory and Guidance TechnologyHarbin Institute of TechnologyHarbinChina

Personalised recommendations