Bearing-based collision-free formation control for spacecrafts under dynamic event-triggered input

 This is the multimedia of the paper “Bearing-based collision-free formation control for spacecrafts under dynamic event-triggered input”, including datasets (in .xlsx format), presentations (in .pptx format), and illustrative videos. This paper investigates a motion planning problem for multiple spacecrafts under dynamic event-triggered input and bearing constraint. As a safety-critical system, collision avoidance plays a key role in endowing the formation system with fully autonomous operating space under obstacle-cluttered environment. Given this fact, a control barrier function (CBF)-based quadratic programming (QP) is developed based on backstepping framework, such that each spacecraft is able to move to its predefined position without collisions among static/moving obstacles and its neighbors. Considering the limited communication and actuation capability, an input-based event-triggered mechanism (ETM) is then introduced with dynamic parameter to schedule the triggering instants. By doing so, the data transmission from the controller to the actuator can be well-regulated with system input only, which offers a more practical solution to limited communication resources. The stability of the system is proved via Lyapunov analysis and the simulations are conducted to show the effectiveness of the proposed strategy.