基于有向图的航天器编队鲁棒自适应姿态协同跟踪控制

Robust Adaptive Cooperative Tracking Control for Multi-Spacecraft Formation Flight Based on Directed Graph

针对一组有向通讯拓扑关系的编队航天器的协同控制问题,考虑航天器的模型不确定性(指惯量不确定性)以及受到的外部干扰的影响,设计了分布式自适应协同姿态跟踪控制器,使得各航天器姿态协同的同时跟踪时变的期望姿态。首先,针对由MRP参数描述的航天器误差动力学方程,选取了包含相对误差项以及绝对误差项的滑模面,将模型不确定项和外界干扰项作为整体处理,基于Lyapunov稳定性理论给出了非回归项的自适应算法和分布式协同跟踪控制律的设计方法,以使得各航天器协同收敛到期望的姿态,最后通过仿真验证了该算法的有效性、可行性。

In this paper, a distributed adaptive cooperative tracking control algorithm is investigated for multi- spacecraft formation flight, in which a directed communication topology is used to characterize the interaction among spaceerafts considering uncertainties of spacecraft moment of inertia and external disturbances. Specifically, for the error dynamics equations of spacecraft described by the Modified Rodriguez Parameters （MRP）, a sliding surface including the relative attitude errors and absolute attitude errors is designed. Then, a nonregressor-based adaptive control approach is presented to deal with the model uncertainties and external disturbance such that all of spacecrafis in the formation converge to the desired attitude cooperatively. Finally, an illustrative example is conducted to demonstrate the effectiveness of the proposed algorithm.