多星姿态协同中的几何鲁棒控制

Geometrically robust control in multi-satellite attitude coordination

针对多星系统的姿态协同控制问题,通过不变扩展卡尔曼滤波(invariant extended Kalman filter,InEKF)对航天器进行姿态估计,将航天器的姿态估计与传递矩阵独立;结合无向通信拓扑构建多星特殊正交群(special orthogonal group,SO(3))姿态模型,推导SO(3)上姿态协同误差。然后,基于SO(3)提出基于一致性理论的姿态协同控制算法。其中,利用径向基函数神经网络对虚拟扰动进行拟合补偿,所提出的算法考虑空间扰动,以保证协同控制器适用于整个姿态空间,实现多星姿态协同、跟踪期望姿态和执行器能力约束下的协同。根据LaSalle不变集理论对系统进行分析,证明系统具有全局渐近稳定性。最后,利用六星航天器系统校验了所提姿态协同控制算法的有效性。

Aiming at the attitude cooperative control problem of multi-spacecraft system,the attitude estimation of the spacecraft is estimated by invariant extended Kalman filter(InEKF),and the attitude estimation of the spacecraft is made independent of the transfer matrix.Then,the multi-spacecraft special orthogonal group(SO(3))attitude model is constructed by combining the undirected communication topology,and the attitude coordination error on SO(3)is deduced.Among them,an attitude coordination control algorithm based on the consistency theory is proposed based on the special orthogonal group SO(3).The radial basis function neural network is used to fit and compensate virtual disturbances.The proposed algorithm considers spatial disturbances to ensure that the collaborative controller is applicable to the entire attitude space.Multi-satellite attitude collaboration,tracking desired attitude,and collaboration under the constraints of actuator capabilities are realized.The system is analyzed based on LaSalle invariant set theory,proving that the system has global asymptotic stability.Finally,the effectiveness of the proposed attitude collaborative control algorithm is verified by using a six-satellite spacecraft system.