Event-triggered adaptive pose tracking control of rigid cellularized spacecraft based on twistors

In this paper, an event-triggered adaptive pose tracking controller for rigid cellularized spacecraft subject to inertial parameter uncertainties and external disturbances is proposed in the recently developed twistor framework. To ease the controller design, a sliding surface for the twistor-based dynamic system is devised. Then, an adaptive pose tracking controller is developed based on the sliding surface with the inertial parameter uncertainties handled by an adaptive law and the external disturbances estimated by a radial basis function neural network. An event-triggering strategy is combined with the adaptive controller to reduce the communication burden of the spacecraft. The control input is only updated and transmitted at some instants generated by the proposed event-triggering strategy, which reduces the communication burden significantly. The stability of the event-triggered adaptive control scheme and the avoidance of Zeno phenomenon is proven via rigorous analysis. Simulation results demonstrate the effectiveness of the proposed scheme.