卫星编队飞行的鲁棒自适应控制方法

摘要

This paper considers the relative control problem of earth-orbiting formations based on the leader-follower scheme. The full nonlinear dynamics describing the relative motion between the leader and the follower are derived. The non-perturbed form of the full dynamics is utilized to formulate the optimal reference trajectory generation problem which is transformed into a nonlinear programming problem for numerical solution by Gauss pseudospectral method. A robust adaptive controller is designed based on the Lyapunov method. Despite the presence of unknown disturbance, unknown reference orbit parameters, unknown control of the leader, and unknown mass of the follower, this controller can guarantee the global uniform ultimate boundedness of the closed-loop system using only relative measurements. The ultimate bound of the tracking error can be made arbitrarily small by proper choice of controller parameters. Simulation results are presented to illustrate the efficiency of the main results in this paper.%研究了主从式框架下编队飞行的相对控制问题.首先推导了描述主从星相对运动的完整非线性动力学模型,利用完整模型的无摄动形式提出了最优参考轨迹生成问题,并应用高斯伪谱法将此问题转换成非线性规划问题,使其可以数值求解；基于Lyapunov方法设计了闭环系统的鲁棒自适应控制器,在存在未知干扰、未知主星轨道参数与控制以及未知从星质量的情况下,仅利用相对状态测量即能够保证闭环系统的参考轨迹跟踪误差和参数估计误差全局-致最终有界,并证明了跟踪误差的最终界可以通过选取合理的控制器参数使其任意小；最后给出了具体的仿真场景验证了本文主要结果的有效性.