An attitude cooperative control for multi-spacecraft systems with arbitrary input delay time-variation rate: A dynamic event-triggered approach

A problem of the attitude cooperative control of multi-spacecraft systems with input time-varying delay under an undirected graph is addressed in this paper, where the delay does not require any assumption on the continuity of the delay and its time-variation rate. Considering the communication bandwidth constraint and Zeno behavior, a dynamic event-triggered scheme is presented, which is more general than some existing event-triggered schemes with a fixed threshold. By Lyapunov function technology, sufficient conditions of bilinear matrix inequality (BMI) for the existence of controller gain are proposed firstly such that the closed-loop system is attitude cooperative with a new disturbance attenuation performance. It is also proved that there is a lower bound between two adjacent triggers via the mathematical analytical method, that is, the Zeno phenomenon can be avoided. Finally, the efficacy of the proposed methods is verified via simulations.