Event-Driven Connectivity-Preserving Coordinated Control for Multiple Spacecraft Systems With a Distance-Dependent Dynamic Graph
针对通信资源有限的多航天器系统，提出一种基于距离依赖动态图的事件驱动协调控制方案，在保证相邻航天器连通性的同时减少通信频率，并避免Zeno现象。
This article considers the connectivity preservation coordinated control problem for multiple spacecraft systems subject to limited communication resources and sensing capability. By constructing a novel bump function, a distance-dependent dynamic communication network model is first presented, which characterizes the interaction strength as a nonlinear smooth function varying with the relative distance of spacecraft continuously. Subsequently, based on an edge-tension potential function, a distributed event-driven coordinated control scheme is proposed to achieve formation consensus, while ensuring that adjacent spacecraft is always within the allowable connectivity range. Meanwhile, to avoid redundant data transmissions, a hybrid dynamic event-triggered mechanism with maximum triggering interval is developed to schedule the communication frequency among spacecraft. It is proven that the onboard communication resources occupation can be reduced significantly and the Zeno phenomenon is strictly excluded. Finally, the efficiency of the proposed method for, as an example, four-spacecraft formation system is substantiated.