Leader-Follower Formation of Swarm of Satellites using SDRE

These codes simulate leader-follower formation of swarm of satellites considering the dynamics, using the state-dependent Riccati equation.

The codes are related to the published paper:

Saeed Rafee Nekoo, Yao, J., Suarez, A., Tapia, R., & Ollero, A. (2023, October). Leader-Follower Formation Control of a Large-Scale Swarm of Satellite System Using the State-Dependent Riccati Equation: Orbit-to-Orbit and In-Same-Orbit Regulation. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 10700-10707). IEEE.

Link to the paper: https://doi.org/10.1109/IROS55552.2023.10342383

--The number of agents is set to 36 in the simulation codes. You may increase it, but the time of simulation increases as well.

--Orbit-to-orbit simulation in Section IV-A: run the code “Run_07_Multiagent_local_coordinate.m”

--In-same-orbit simulation in Section IV-B: run the code “Run_08_Multiagent_Same_Orbit_local_coordinate.m” which uses infinite horizon SDRE with soft constraint to stay on the same orbit.

--In-same-orbit simulation in Section IV-B: run the code “Run_09_Multiagent_Same_Orbit_local_coordinate_BI.m” which uses finite horizon SDDRE with soft constraint to stay on the same orbit using backward integration (BI) solution method.

Orbital mechanic was neglected, hence, the input signals were found significantly and unrealistically large, caused by the long travel distance. The simulation was arranged to highlight the role of formation control and the use of the soft constraint to keep the agents on a surface while controlling them.

Video link of the simulations for 1024 agents: https://www.youtube.com/watch?v=yfd1CJ5RWsc