A simple structure robust attitude synchronization with input saturation

The attitude synchronization problem of multiple spacecraft is investigated in this paper. A simple cooperative control law, which can render spacecraft formation synchronized to a time-varying reference trajectory globally in the presence of model uncertainties, external disturbances and input saturation, is proposed. The globally asymptotic stability of the controller in the presence of model uncertainties and external disturbances is proven rigorously through a three-step proof technique. The controller can be used in orbit without modification due to its low computational complexity. Then, the proposed controller is extended to solve the consensus problem for multiple inertial agents with double-integrator dynamics. Finally, Numerical simulations are included to demonstrate the effectiveness of the developed controller.