| 引用本文: | 梁海朝,王剑颖,孙兆伟,张昱煜.多小型飞行器自主编队姿态协同控制方法[J].哈尔滨工业大学学报,2016,48(4):13.DOI:10.11918/j.issn.0367-6234.2016.04.002 |
| LIANG Haizhao,WANG Jianying,SUN Zhaowei,ZHANG Yuyu.Decentralized attitude synchronization of spacecraft formation under disturbances[J].Journal of Harbin Institute of Technology,2016,48(4):13.DOI:10.11918/j.issn.0367-6234.2016.04.002 |
|
| 摘要: |
| 针对多小型飞行器空间自主编队姿态协同飞行任务，研究了空间多小型飞行器自主编队在空间干扰影响下的姿态协同控制问题.考虑到编队无法获取外界参考信息，需要进行自主编队的情况，提出一种编队姿态协同控制方法.首先，提出的控制方法基于小型飞行器绝对姿态信息实现编队姿态协同，能够适应多种编队通信拓扑结构，并且对于外干扰力矩具有较强的鲁棒性；然后，根据Lyapunov定理，从理论上证明了闭环系统的稳定性和收敛性；最后，通过数值仿真验证了理论分析结果及所提出控制方法的有效性.研究结果表明，所提出的控制方法能够在干扰力矩作用下，利用小型飞行器绝对姿态信息实现编队姿态协同，且能够适应多种编队构型.
|
| 关键词: 小型飞行器 自主编队 分布式控制 姿态协同 鲁棒控制 |
| DOI：10.11918/j.issn.0367-6234.2016.04.002 |
| 分类号:V19 |
| 文献标识码:A |
| 基金项目:长江学者和创新团队发展计划资助项目(IRT0520). |
|
| Decentralized attitude synchronization of spacecraft formation under disturbances |
|
LIANG Haizhao1, WANG Jianying2,3, SUN Zhaowei2, ZHANG Yuyu1
|
|
(1.Beijing Institute of Long March Vehicle, 100076 Beijing, China; 2.Research Center of Satellite Technology, Harbin Institute of Technology, 150080 Harbin, China; 3.Science and Technology on Space Physics Laboratory （Beijing Institute of Nearspace Vehide′s Systems Engineering）,100076 Beijing, China)
|
| Abstract: |
| This paper investigates the attitude synchronization problem of multiple spacecraft without a prescribed reference attitude in the presence of disturbance. Autonomous attitude synchronization is necessary when a spacecraft formation has no external reference information. Therefore, a decentralized robust attitude control scheme is proposed to guarantee spacecraft attitude synchronization under external disturbances in the absence of a common reference attitude or any other hierarchy in formation. The proposed class of controllers is effective with a large range of communication topological structure, and is designed by using the absolute angular velocity and absolute attitude quaternion. The control scheme is robust against environmental disturbance torques. The stability the resulting closed-loop system under the controllers are proven theoretically. Numerical simulations are included to validate the analytical results.
|
| Key words: small spacecraft autonomous formation flying decentralized control attitude synchronization robust control |
