基于有向图的航天器编队飞行自适应姿态协同控制

Adaptive Attitude Cooperative Control for Spacecraft Formation Flying Under Directed Communication Topology

在有向通信拓扑下研究了编队航天器自适应姿态协同控制问题。针对航天器编队飞行系统中存在外部扰动和模型不确定性的情况,通过选取包含相对姿态误差和绝对姿态误差的辅助变量,提出了一种鲁棒自适应控制策略。提出了自适应律估计转动惯量矩阵和扰动上界等未知参数,并且利用Lyapunov稳定性理论分析了闭环系统的渐近稳定性。与滑模控制等传统鲁棒控制不同,所设计的鲁棒自适应控制器是连续的,更便于航天器编队飞行系统的实现。最后通过仿真验证了该控制策略能够实现高精度的编队飞行跟踪控制。

The adaptive attitude cooperative control problem＇for formation spacecraft is studied under the directed com- munication topology. For the case of external disturbances and model uncertainty in the spacecraft formation flying sys- tem, an auxiliary variable including relative attitude errors and absolute attitude errors is selected and a robust adaptive control strategy is proposed. The adaptive laws are presented to estimate the unknown parameters of inertia matrices and the upper bound of external disturbances, and the asymptotic stability of closed-loop system is analyzed by using Lyapunov stability theory. Different from traditional robust control such as sliding mode control, the designed robust adaptive controller is continuous, which is convenient to realize spacecraft formation flying systems. Finally, the simulation results show that the control strategy can achieve high-precision tracking control of formation flying.