Collision Avoidance and Tracking Control of Multi-spacecraft Under Input Saturation

The flight safety associated with the multi-spacecraft system in configuration reconfiguration/maintenance and target tracking is studied in this work. First, a relative position error function of a multi-spacecraft system suitable for directed complete topology is established, the error function considers both the configuration reconstruction/maintenance and target tracking. For various obstacle avoidance constraints, a potential function is proposed based on the error function, which can avoid the system entering the local minimum. Then, leveraging the proposed potential function, an adaptive controller is further constructed to achieve the configuration reconstruction/maintenance, and the target tracking of the multi-spacecraft system with multiple collision avoidance constraints, input saturation and external disturbance. Simulation example of a multi-spacecraft system with moving tracking target and moving space obstacle is simulated to illustrate the efficiency of the proposed adaptive saturation controller.