An integrated distributed constrained control and allocation strategy for modular self-reconfigurable spacecraft attitude control system

This paper introduces a distributed integrated attitude control and allocation strategy for modular self-reconfigurable spacecraft systems. First, the attitude error kinematics and dynamics are transformed into a state dependent coefficient (SDC) model incorporating target control and incremental control. Then, a model predictive control (MPC) approach is adopted for attitude coordinated control in order to minimize energy consumption and ensure rapid attitude maneuvering, while accounting for actuator torque constraints, reaction wheels angular momentum saturation and momentum balancing management. Finally, by introducing an additional virtual module, a distributed resolution scheme is proposed to address the resulting multi-agent constraint-coupled optimization problem. As a result, by leveraging on the MPC framework, the proposed single-layer structure strategy simultaneously performs distributed attitude control and allocation, achieving fully distributed while effectively addressing practical engineering issues such as system performance requirements and reaction wheels characteristics. Simulations showcase the performance of the proposed distributed attitude control strategy.