Optimal attitude consensus control for rigid spacecraft formation based on control Lyapunov functions

In this article, the optimal attitude consensus control problem of distributed spacecraft formation through local information exchange is solved in presence parameter uncertainty and disturbance. The dynamics model rigid established based on unit quaternion under an undirected graph. Then, scheme Lyapunov functions adopted for formation. approach to construct appropriate function multiple developed. Then lumped disturbance estimated by extended state observer (ESO) using sliding mode improves robustness controller. proposed controller can not only ensure global convergence system but also make preset performance index achieve minimum value. addition, mathematical proof given stability analysis theory. Finally, some simulations comparisons are presented demonstrate validity advantages