多小型飞行器自主编队姿态协同控制方法  

Decentralized attitude synchronization of spacecraft formation under disturbances

作　　者：梁海朝[1] 王剑颖[2,3] 孙兆伟[2] 张昱煜[1] 

机构地区：[1]北京航天长征飞行器研究所,北京100076 [2]哈尔滨工业大学卫星技术研究所,哈尔滨150001 [3]空间物理重点实验室(北京临近空间飞行器系统工程研究所),北京100076

出　　处：《哈尔滨工业大学学报》2016年第4期13-19,共7页Journal of Harbin Institute of Technology

基　　金：长江学者和创新团队发展计划资助项目(IRT0520)

摘　　要：针对多小型飞行器空间自主编队姿态协同飞行任务,研究了空间多小型飞行器自主编队在空间干扰影响下的姿态协同控制问题.考虑到编队无法获取外界参考信息,需要进行自主编队的情况,提出一种编队姿态协同控制方法.首先,提出的控制方法基于小型飞行器绝对姿态信息实现编队姿态协同,能够适应多种编队通信拓扑结构,并且对于外干扰力矩具有较强的鲁棒性;然后,根据Lyapunov定理,从理论上证明了闭环系统的稳定性和收敛性;最后,通过数值仿真验证了理论分析结果及所提出控制方法的有效性.研究结果表明,所提出的控制方法能够在干扰力矩作用下,利用小型飞行器绝对姿态信息实现编队姿态协同,且能够适应多种编队构型.This paper investigates the attitude synchronization problem of multiple spacecraft without a prescribed reference attitude in the presence of disturbance. Autonomous attitude synchronization is necessary when a spacecraft formation has no external reference information. Therefore, a decentralized robust attitude control scheme is proposed to guarantee spacecraft attitude synchronization under external disturbances in the absence of a common reference attitude or any other hierarchy in formation. The proposed class of controllers is effective with a large range of communication topological structure, and is designed by using the absolute angular velocity and absolute attitude quaternion. The control scheme is robust against environmental disturbance torques. The stability the resulting closed-loop system under the controllers are proven theoretically. Numerical simulations are included to validate the analytical results.

关 键 词：小型飞行器 自主编队 分布式控制 姿态协同 鲁棒控制 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]