六自由度飞行器编队建模与控制

6 DOF Formation Flight Modeling and Control

传统主从式编队常采用线性化反馈控制,很难满足复杂高精度空间飞行器编队要求。针对主从式飞行器相对平动和相对转动运动进行建模,进而得到统一的六自由度飞行器编队的非线性动力学模型。基于所得模型,设计了六自由度飞行器编队控制的滑模控制器和积分反推控制器,并给出基于Lyapunov的严格数学证明。仿真结果表明,控制器能够保证从飞行器六自由度运动跟踪误差的一致渐近收敛,为空间飞行器在轨服务等飞行器编队实际应用提供了理论参考。

The relative translational and rotational dynamic models were established to meet the requirement of spacecraft high-precision formation flight. These models were further extended to a complete 6 DOF （Degree of Freedom） model. Based on this model, a sliding mode controller and an integral backstepping controller were developed, and rigid proofs based on Lyapunov theorem were given. Simulation results indicate that the designed controller can guarantee the closed loop system to be uniformly asymptotically stable （UAS）. The proposed model and the controller provide a useful theoretical reference for applications such as cooperative imaging and on-orbit service etc.