Attitude Takeover Control of Failed Spacecraft via Leader–Followers Adaptive Cooperative Game

Abstract

In this paper, the problem of microsatellites-based adaptive cooperative game attitude takeover control for a failed spacecraft is investigated. Specifically, a manned microsatellite (leader) and a team of autonomous microsatellites (followers) are ordered to cooperate to complete the attitude control task in an optimal way, in which the control strategy and the cost function (or intent) of the leader are unknown to the followers. Based on the differential game (DG) theory, the microsatellites-based attitude takeover control problem is formulated as a cooperative DG, in which each microsatellite has the individual cost function. A key problem is that the followers must infer the leader’s intent first, that is, retrieve the weighting matrix of the cost function of the leader. To achieve this, a composite adaptive law is introduced for each follower to estimate the feedback gain matrix of the leader by using system state data and the cost functions of other followers; based on this, the leader’s intent is inferred online by minimizing a residual error. Then, the cooperative game control law of each follower is designed by itself, and the Pareto equilibrium of the DG system is achieved. Finally, the effectiveness of the proposed leader–followers adaptive cooperative game control method is verified by a simulation study.