具有输入时延的多航天器分布式跟踪控制

Distributed Tracking Control for Multiple Spacecrafts with Input Delays

针对具有不确定输入时延的多航天器姿态跟踪控制问题,利用Takagi-Sugeno(T-S)模糊方法将非线性多航天器跟踪误差动力学模型进行模糊线性化处理,从而构建出简化的航天器跟踪误差动力学线性模型。在此基础上,设计了一种分布式多航天器鲁棒跟踪控制协议,实现多航天器在不确定输入时延和扰动环境下的姿态跟踪控制。最后以多航天器姿态跟踪控制系统模型进行了数值仿真验证,结果表明,利用所设计的分布式跟踪控制器,可实现在不同输入时延下的多航天器姿态跟踪控制,并且可以满足系统的H∞性能指标。

Aiming at the attitude tracking control problem of multi-spacecraft with uncertain input delay,the nonlinear multi-spacecraft tracking error dynamic model is linearized by using Takagi-Sugeno(T-S)fuzzy method,and a simplified spacecraft tracking error dynamic linear model is constructed.Furthermore,a distributed multi-spacecraft robust tracking control protocol is designed to realize attitude tracking control of multi-spacecraft in uncertain input delay and disturbance environments.Finally,the numerical simulation of multi-spacecraft attitude tracking control system model is carried out.The results show that the distributed tracking controller designed in this paper can realize the multi-spacecraft attitude tracking control with the H∞performance index under different input delays.