无需角速度的含通信时延卫星编队飞行自适应姿态协同跟踪控制

Angle Velocity Free Attitude Synchronization Adaptive Tracking Control for Satellite Formation Flying with Time-varying Delays

针对编队卫星姿态协同跟踪控制中存在相异星间通信时变时间延迟的问题,提出了采用一阶滤波器来设计含通信时延的输出反馈控制器,并通过引入参数在线自适应辨识技术,以实现利用卫星姿态误差信息来实现对卫星的转动惯量进行在线估计.对于系统稳定性的分析,通过构造一新型Lyapunov函数,证明该控制器不仅能够有效地克服通信时间延迟对编队系统协同性的影响,同时可论证无需角速度信息反馈的闭环系统的有界稳定性.最后,将提出的算法应用于只需要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 has been developed for satel- lite formation flying without using explicit absolute angular velocity or relative angular velocity feedback, in which the unknown communication non-uniform various time-delays and inertia matrix are explicitly considered. More specifically, the controller structure includes a low-pass linear filter state which is derived without explicit differentiation of attitude to synthesize angular velocity-like signals, and an adaptive updating law is also involved to identify the satellite inertia matrix such that no knowledge of the inertia of the satellites in formation is required a priori. The associated stability proof is constructive and accomplished by the development of a novel Lyapunov function candidate which proves the formation systemst bounded stability. Simulation results are presented to demonstrate the effectiveness of the control law.