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Robust Concurrent Attitude-Position Control of a Swarm of Underactuated Nanosatellites

机译:欠驱动纳米卫星群的鲁棒并发姿态-位置控制

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In this paper, we address the formation flying problem of underactuated nanosatellites by concurrent attitude-position control. Lack of space in nanosatellites hinders us from having omnidirectional motion capabilities. Hence, a practical model for nanosatellites is to employ a one-directional propulsion system together with the reaction wheels. To achieve the formation flying of such nanosatellites, we develop a strategy based on the simultaneous control of attitude and position. The proposed formation flying method consists of three sublevels: first for each underactuated nanosatellite, a virtual fully actuated system is considered and a finite-time translational control method together with a disturbance estimator is developed for the fully actuated system. Subsequently, an adaptive finite-time attitude tracking is proposed to align the thruster of each underactuated nanosatellite with the obtained translational input of the corresponding virtual fully actuated system. Finally, by using the attitude and the obtained virtual input, the thrust for each underactuated nanosatellite is computed. Unlike the existing methods that are merely limited to control of fully actuated satellites, the proposed method presents a robust concurrent formation flying control for a group of underactuated nanosatellites, and accounts for disturbances such as air drag. A rigorous mathematical formulation and the stability analysis of the system are provided. Simulation results are presented to illustrate the performance of the proposed method.
机译:在本文中,我们通过并发的姿态-位置控制解决了欠驱动的纳米卫星的编队飞行问题。纳米卫星空间的缺乏阻碍了我们具有全向运动能力。因此,纳米卫星的实用模型是与反作用轮一起使用单向推进系统。为了实现这种纳米卫星的编队飞行,我们开发了一种基于同时控制姿态和位置的策略。拟议的编队飞行方法包括三个子层次:首先针对每个欠驱动的纳米卫星,考虑一个虚拟的全驱动系统,并为全驱​​动系统开发了一种有限时平移控制方法以及一个干扰估计器。随后,提出了一种自适应的有限时间姿态跟踪,以将每个欠驱动的纳米卫星的推进器与相应的虚拟全驱动系统的平移输入对齐。最后,通过使用姿态和获得的虚拟输入,计算每个未激活的纳米卫星的推力。与仅局限于完全控制卫星的现有方法不同,该方法为一组未激活的纳米卫星提供了鲁棒的并发编队飞行控制,并解决了诸如空气阻力等干扰问题。提供了严格的数学公式和系统的稳定性分析。仿真结果表明了该方法的性能。

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