Decentralized specific tracking control on SE(3) for constrained multi-spacecraft systems

This paper investigates the multi-spacecraft systems decentralized specific tracking of a rotating target spacecraft under motion constraints. The specific tracking is composed of hovering above the tumbling target and observing its specific surface, which is intricately connected to the coupled attitude-orbit problem. Consequently, the relative motion model between the service spacecraft and the target is initially established on the Lie group SE(3) using a global and coordinate-free approach. Subsequently, a novel collision avoidance scheme based on collision detection algebraic conditions for multi-spacecraft systems is proposed, which innovatively integrates the relative attitude and geometric shapes of two spacecraft based on a collision detection algebraic condition. To ensure the continuous and stable visibility to target, field of view constraint and line-of-sight occlusion avoidance constraint are sequentially designed. Ultimately, by combining the configuration error vector with artificial potential functions, a novel decentralized pose control strategy is directly designed on the Lie group SE(3). The stability of the resulting closed-loop systems is guaranteed by the Lyapunov method. Numerical simulations are provided to validate the effectiveness of the proposed solution for the constrained multi-spacecraft specific tracking control problem.