Multi-Spacecraft adaptive tracking control with collision avoidance based on fully actuated system approach

In this paper, an adaptive tracking control problem of a constrained multi-spacecraft system in observation mission for a rotating target is investigated. Based on the integrated spacecraft attitude-orbit kinematic described on Lie group SE(3) and a positive definite configuration error function, a second-order fully actuated system model for error configuration is derived. Considering collision avoidance problem, a collision avoidance scheme based on the collision detection algebraic condition is established, which considers the interaction of relative attitude and geometric shapes of two spacecraft. In view of the influence of external disturbance, an adaptive controller based on the fully actuated system theory is further designed. According to Lyapunov stability theory, it is proved that the resulting closed-loop system is ultimately uniformly bounded. The simulation results prove the effectiveness of the proposed control strategy.