作为遥感卫星编队协同观测的基础理论之一，卫星编队姿态协同控制具有重要理论价值和实际意义。由于遥感卫星长时间快速姿态机动，执行器极易发生故障，因此卫星编队姿态容错协同控制是提高系统可靠性迫切需要解决的关键问题。本项目为规避姿态参数化所引起的混淆和奇异现象，拟建立基于旋转矩阵描述的卫星编队姿态动力学及执行器故障模型，并通过设计分布式故障估计观测器对故障进行准确重构，给出姿态容错协同控制策略的设计方法。进一步，在给定精确收敛时间的约束下，研究无向拓扑和有向拓扑下的姿态有限时间容错协同控制问题。在此基础上，针对卫星编队拓扑结构存在动态变化的情形，将之前的结果推广到一般切换拓扑及随机切换拓扑下，并通过仿真实验验证所得算法的可行性和适应性。本项目的开展不仅将推动卫星编队协同控制理论的发展，而且将为遥感卫星编队超大幅宽无缝连续成像技术的实现提供重要理论支撑。

As one of the basic theories for cooperative observation of remote sensing satellite formation, the attitude coordinated control of satellite formation has important theoretical and practical significance. The actuators of remote sensing satellites are prone to failures since long time of fast attitude maneuver, thus the fault-tolerant attitude coordinated control of satellite formation is a key issue that urgently needs to be addressed to improve the system reliability. In order to avoid singularities and ambiguities which caused by attitude parameterization, this project will establish the rotation-matrix-based attitude dynamics of satellite formation and actuator fault model, design a distributed fault estimation observer to reconstruct the fault accurately, and propose a fault-tolerant attitude coordinated control algorithm. Furthermore, under the constraint of a specified convergence time, this project will study the finite-time fault-tolerant attitude coordinated control problem in both undirected and directed topologies. On this basis, considering the dynamic variation of the communication network topologies of satellite formation, this project will extend the previous results to general switching topologies and random switching topologies, and verify the feasibility and adaptability of the proposed algorithms by simulation experiments. The implementation of this project will not only promote the development of cooperative control theory of satellite formation, but also provide important theoretical support for the realization of super-large width of seamless continuous imaging technology of remote sensing based on satellite formation.