编队卫星姿态的自适应协同控制

摘要

We address multiple rigid spacecraft attitude coordinated and tracking control under a general undirected interaction topology. Distributed attitude coordinated controllers are considered for multiple spacecraft without model parameter or disturbance uncertainties, and with unknown model parameter and constant external disturbances. For the first case, the controller designed based on the sliding mode guarantees that all group spacecraft can achieve synchronized attitude maneuver, I.e. , tracking a time-varying desired attitude while synchronizing their attitudes. For the second case, we design an adaptive coordinated attitude controller, to obtain synchronized attitude maneuver. Based on Lyapunov-Krasovskii method, our proposed controllers are robust to the constant communication delays existing in information exchange channels. Numerical simulations have demonstrated the effectiveness of our proposed approach.%研究了无向信息交互条件下的多卫星姿态同步和跟踪问题,分别在模型参数精确已知和存在模型参数不确定性的情形下设计分散式协同控制算法.当模型参数精确已知时,基于滑动模态变量设计的协同控制力矩,实现了编队卫星姿态的同步机动,即保证编队卫星姿态的同步,并同时跟踪期望的时变参考姿态轨迹.当在轨卫星存在模型参数不确定性和常值未知扰动力矩时,提出了一种自适应协同控制律,仍能实现多卫星姿态的同步机动.基于Lyapunov-Krasovskii的分析表明,当星间链路存在任意未知的定常通讯时延时,本文设计的控制器有效.数值仿真算例验证了本文提出的控制算法.