多飞行器的有限时间姿态一致性编队控制

Finite Time Attitude Consensus Formation Control for Multiple Spacecrafts

通过有限时间命令滤波器和自适应控制研究了多飞行器编队的有限时间姿态一致性跟踪问题,并考虑如何解决系统惯性不确定性和干扰的影响。有限时间命令滤波器的使用避免了对虚拟控制信号进行求导运算。建立的误差补偿机制可以补偿由于应用滤波器造成的滤波误差,保证更高的控制精度。利用神经网络结合自适应技术以估计由未知惯性矩阵形成的不确定非线性动态。最后,利用李雅普诺夫函数证明了基于反步设计的控制器可以保证多飞行器的姿态一致性,跟踪误差能在有限时间内收敛到任意期望的邻域内,并通过仿真证明了该控制策略的有效性。

In this paper,the finite time attitude consensus tracking problem of multi-spacecraft formation is studied by using finite time command filter and adaptive control technology,and how to solve the influence of system inertia uncertainty and interference is considered.The use of finite time command filter avoids the derivation of virtual control signals.The established error compensation mechanism can compensate the filter error caused by the application filter and ensure higher control accuracy.Neural networks combined with adaptive techniques are used to estimate uncertain nonlinear dynamics formed by unknown inertial matrices.Finally,it is proved by Lyapunov function that the controller based on backstepping design can ensure the attitude consistency of multiple vehicles,and the tracking error can converge to any desired neighborhood in a finite time,and the effectiveness of the control strategy is proved by simulation.