6DOF quasi-optimal integral sliding mode control for satellite formation flying using dual quaternion

This paper addresses the tracking control problem of six-degree-of-freedom (6DOF) leader-follower satellite formation flying. First using dual quaternion, 6DOF relative motion model of formation satellite is introduced. Then, a 6DOF quasi-optimal integral sliding mode controller is proposed to guarantee the globally asymptotic convergence of translational and rotational tracking errors despite the presence of parametric uncertainties and external disturbances. In the presented controller, control Lyapunov function isused to construct an optimal controller to minimize two predefined performance indices. A detailed stability analysis of the resulting closed-loop system using a Lyapunov framework is also included. Finally, numerical simulations are presented to illustrate the validity and effectiveness of the proposed controller.