Weighted Average Attitude Consensus of Multiple Spacecraft on Directed Graphs

This paper investigates the attitude consensus problem of multiple spacecraft on digraphs containing a spanning tree. We propose an adaptive attitude consensus scheme to adapt to the spacecraft model uncertainties. Using the frequency-domain analysis tool and Lyapunov stability theory, we demonstrate the stability of the closed-loop networked system, and we also show that the proposed control is able to guarantee that the attitudes of the spacecraft agents converge to the weighted average consensus value. Simulation results are provided to illustrate the performance of the proposed adaptive controller.