针对卫星编队一主多从结构的相对轨迹、姿态的协同控制问题,提出了一种基于Lyapunov方法的编队飞行协同控制策略.该控制策略将分布式控制思想引入卫星编队飞行的相对轨迹、姿态的动力学系统中,使各从星保持编队构型的同时沿期望轨迹相对主星绕飞.从理论上证明了系统的渐近稳定以及对外部干扰的抑制,并基于一致性算法理论定量地分析了通信拓扑结构为有向图情况下控制器参数的选择范围.此外,利用星星间的相对位置信息确定各从星的期望姿态和角速度,以确保对卫星编队进行姿态协同控制,达到跟踪同步的目的.最后将提出的算法应用于卫星三角形编队飞行的协同控制,仿真结果表明该方法的可行性与有效性,具有潜在的应用前景.%This paper proposes a Lyapunov based cooperative control for the coupling of the rotational and translational motion of the satellite formation flying, in which one leader multi-follower satellite formation structure is adopted. More specifically, using the information of the inter-satellite position, the desired attitude quaternion and angular velocity of the followers are determined, such that the desired attitude and position trajectories could be tracked, while simultaneously the synchronized motion among all spacecraft in formation is guaranteed. The stability analysis of the closed-loop system is performed using Lyapunov stability theorem and the range of the control parameters are determined by using consensus algorithm even in the presence of external disturbances. Numerical simulation results are presented to show the effectiveness of the proposed controller.
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