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Attitude control of a spacecraft has been studied extensively in the literature [1,2,3].Motivated by the benefits gained by using multiple inexpensive and simple spacecrafts, cooperative attitude synchronization of multiple spacecrafts has received compelling attentions in recent years.A decentralized control law using the virtual structure approach was presented for a large number of spacecraft in [4].Attitude synchronization of multiple rigid bodies with a leader-follower information structure was studied in [5], which needed the angular velocity measurements to be available.A passivity approach was used in [6] to derive a control law without angular velocity measurements, which required a bidirectional ring information structure.Distributed control laws based on graph theoretic approaches were studied for attitude synchronization in [7] by use of quaternions for attitude representation.