SFF Control Lab

Interactive reproduction of the paper's 4-spacecraft attitude-control simulation

PAUSED · 0.00 s

3-D formation visualization

CASE 2 · EVENT-TRIGGERED

SC1

attitude error—

ω error—

‖s‖—

updates0

1. Attitude kinematics

σ̇i = G(σi)ωi

2. Rotational dynamics

Jiω̇i = −ωi×Jiωi + Γi sat(ui) + ūi + ρi

3. Formation coordination

si = e2i + r e1i

4. Fault-tolerant controller

ui = −k1i si(tk) − k2i αi Φi sgn(si(tk))

Trigger monitor

——

σi, ωi→A,B neighbor data→e1i,e2i→si→trigger→ui → sat(ui)→σ̇i,ω̇i

Controller	SC1	SC2	SC3	SC4
Case 1	600	600	600	600
Case 2	113	116	111	92
Case 3	201	205	203	271

These are the paper's trigger counts over 0–60 s. The browser solver is an educational numerical reproduction, so small differences are possible.