Passivity based controller-observer schemes for relative translation of a formation of spacecraft

摘要

In this paper we study the control of a formation of spacecraft in a leader-follower architecture. Two controller-observer schemes are presented, that guarantee uniform global exponential stability of the closed loop system. Because of this strong stability property, and the fact that the controller-observer design is based on passivity properties, the overall system is robust to modeling errors and orbital perturbations.