This paper considers the multi-task formation control problem of a group of spacecrafts. Control objectives include: collision avoidance, connectivity maintenance, and achieving the desired configuration. The main underlying idea is to develop a new distributed hierarchical control protocol, which provides a hierarchical structure for preserving the network connectivity, thus making it a less conservative way to achieve multi-task formation. A novel Lyapunov-like barrier function is constructed for encoding the objectives of hierarchical connectivity maintenance and collision avoidance. Then, a distributed gradient-based controller is proposed such that the multi-task formation can be achieved. A numerical example illustrates the effectiveness of proposed method.


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    Title :

    Multi-task formation of multi-spacecraft via distributed hierarchical control


    Contributors:


    Publication date :

    2018-03-01


    Size :

    709532 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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