卫星编队飞行输出反馈姿态协同跟踪控制

Output Feedback Attitude Synchronization Tracking Control for Formation Flying Satellite

针对卫星编队飞行姿态协同跟踪的控制过程中角速度信息不可测及外界常值干扰的问题,提出输出反馈协同控制器的设计方法。首先,利用绝对及相对姿态误差信息设计含有积分项的滤波器,并在控制器中引入滤波器的输出信息;同时,考虑到卫星的模型不确定性,设计自适应估计器以对卫星的转动惯量进行在线估计。此外,论证了当卫星编队的通信拓扑结构满足无向树形结构的条件时,仅对任意一颗卫星期望姿态可知即可使整个系统协同收敛于期望值。设计的控制器无需卫星角速度信息即可使角速度信息协同达到期望值,并且引入积分项使得闭环控制系统对常值干扰有良好抑制效果,同时给出降低系统的信息通信压力的分析。最后将提出的算法应用于无需角速度信息反馈的卫星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,具有实际的应用前景。

An output feedback structured attitude synchronization tracking control law is developed for the attitude synchronization tracking control with external constant disturbance and unobservable angular velocity.Specifically,two low-pass linear filters are firstly designed by using the absolute and relative attitude errors;then an adaptive updating law is also involved to identify the satellite inertia matrix such that no knowledge of the inertia of satellites in formation is required a prior.Moreover,the conditions of the communication topology are proved that if the undirected communication topology is a tree structure and the desired attitude is available only to a single satellite,the global stability is guaranteed for the system.The designed control law needs no explicit differentiation of attitude to synthesize angular velocity-like signals into the desired value,and the integral feedback term led into the control law makes the closed-loop system get better convergence in the presence of unknown（constant） disturbance torques,and further the communication load between satellites and the desired reference is relieved.Simulation results are presented to demonstrate the effectiveness of the control law.