考虑通信延迟的卫星集群改进蜂拥控制

Improved Flocking Control for Satellite Cluster with Communication Delays

针对卫星集群的无碰撞协同运动问题,提出了一种改进的蜂拥控制策略。首先,结合Prim算法和广度优先算法设计了一种计算度、半径约束最小生成树的拓扑优化方法,并将优化结果作为星群的通信拓扑。该方法不仅能够节省每个卫星的通信资源,还能够减少星群网络的通信延迟。随后,为提高参考轨迹生成的快速性,采用基于傅里叶级数的形状曲线逼近法对主星参考轨迹进行规划。在此基础之上,提出了一种考虑通信延迟与碰撞规避的蜂拥控制策略,使星群能够在保证通信连通性的前提下沿参考轨迹运动到目标点附近,并且在运动过程中不发生碰撞。经过理论分析,利用Lyapunov-Razumikhin定理证明了卫星集群系统能够达到渐近稳定。最后,通过数值仿真验证了所提控制策略的正确性和有效性。

An improved flocking control strategy is proposed to solve the problem of collision-free cooperative motion of satellite clusters.Firstly,combining the Prim algorithm and the breadth-first algorithm,a topology optimization method is designed to calculate a degree and radius constrained minimum spanning tree,and the optimization results are used as the communication topology of the satellite cluster.This method can not only save the communication resources of each satellite,but also reduce the communication delay of the cluster network.Subsequently,in order to improve the rapidity of reference trajectory planning,a shape-based approximation method based on Fourier series is adopted to calculate the reference trajectory of the leader satellite.On this basis,a flocking control strategy considering communication delay and collision avoidance is introduced,which can make the whole cluster move to the target point along the reference trajectory on the premise of ensuring communication connectivity,and there is no collision during the movement.After theoretical analysis,the asymptotic stability of the controller is proved by the Lyapunov-Razumikhin theorem.Finally,the correctness and validity of the proposed control strategy are verified by numerical simulations.