关键词: 编队飞行, 姿态协同, 控制饱和, Lyapunov稳定性

Abstract: The problem of the attitude coordination control under control input saturation
for formation flying satellites is investigated, and a nonlinear saturated coord
ination controller is proposed. Different from the case of the attitude control
for single satellite under input constraints, in which a hyperbolic tangent function is usually chosen, a new continuously differentiable nonlinear saturation
function vector is introduced to ensure that the continuous control input is bou
nded and make the stability analysis of the attitude coordination system availab
le. Based on the feature that the closed\|loop attitude coordination system belo
ngs to autonomous systems or non\|autonomous systems respectively according to d
ifferent values of the desired and tracked angular velocity, LaSalle’s invarian
ce principle and Barbalat’s lemma are utilized correspondingly to analyze the s
tability of the attitude coordination controlled system in different cases, then
the result of the asymptotical stability is obtained. Simulation results show t
hat this kind of nonlinear coordination controller can achieve the purpose of at
titude coordination for formation flying satellites, and guarantee the control i
nput is bounded as well.

Key words: Formation flying, Attitude coordination, Control saturation, Lyapunov stability