面向集群飞行的微小卫星姿态容差估计与快速精细控制方法

Attitude state tolerance estimation and fastly precise control of microsatellite for swarm flying

针对微小卫星集群执行空间非合作目标操控等任务时对单星自身姿态的确定与快速控制问题,本文提出了一种容差估计与快速精细控制方法.该容差估计方法设计了一种鲁棒性强的中心误差熵稀疏高斯埃尔米特求积滤波器,实现了厚尾非高斯测量噪声作用下的姿态高精度估计.此外,该方法基于一种新的预定时间姿态跟踪精细控制器设计而成,在预定时间内精确估计并精细补偿了姿态动力学模型误差,并在执行器控制能力受限条件下实现了对高动态强时变姿态轨迹的预定时间跟踪控制,率先同时解决了执行器能力受限与姿态预定时间控制问题.将该方法应用于某型微小卫星姿态控制系统设计,仿真结果表明该方法能显著地提高姿态估计精度与姿态跟踪控制速率.

A state tolerance estimation and fastly precise control approach is presented for attitude determination and control problem of microsatellite in swarm flying with severe modeling error.In this approach,a scattered Gauss-Hermite quadrature filter is first developed based on the centered error entropy.Applying this filter,the attitude state is estimated with high accuracy and great robustness to modeling error and heavy-tailed non-Gaussian noise.Moreover,a disturbance observer-based predefined-time attitude tracking controller is designed.The disturbance is precisely estimated and compensated within the predefined time.The closed-loop attitude tracking control system governed by this controller is proved to be predefined-time stable.The desired time-varying attitude trajectory is followed with zero error after that predefined time.The predefined time control problem and the actuator constraint problem are simultaneously solved.Using this approach to a microsatellite attitude control system design,simulation results are given to demonstrate that the attitude estimation accuracy and attitude control precision as well as convergence rate can be significantly improved by the presented approach.