An attitude cooperative control for multi‐spacecraft systems with arbitrary input delay time‐variation rate: A dynamic event‐triggered approach

Abstract

SummaryA problem of the attitude cooperative control of multi‐spacecraft systems with input time‐varying delay under an undirected graph is addressed in this paper, where the delay does not require any assumption on the continuity of the delay and its time‐variation rate. Considering the communication bandwidth constraint and Zeno behavior, a dynamic event‐triggered scheme is presented, which is more general than some existing event‐triggered schemes with a fixed threshold. By Lyapunov function technology, sufficient conditions of bilinear matrix inequality (BMI) for the existence of controller gain are proposed firstly such that the closed‐loop system is attitude cooperative with a new disturbance attenuation performance. It is also proved that there is a lower bound between two adjacent triggers via the mathematical analytical method, that is, the Zeno phenomenon can be avoided. Finally, the efficacy of the proposed methods is verified via simulations.