Robust attitude coordinated control for spacecraft formation with communication delays  

作　　者：Jian ZHANG Qinglei HU Danwei WANG Wenbo XIE 

机构地区：[1]Department of Control Science and Engineering,Harbin Institute of Technology [2]School of Automation Science and Electrical Engineering,Beihang University [3]School of Electrical and Electronic Engineering,Nanyang Technological University [4]College of Automation,Harbin University of Science and Technology

出　　处：《Chinese Journal of Aeronautics》2017年第3期1071-1085,共15页中国航空学报（英文版）

基　　金：co-supported by the National Natural Science Foundation of China(Nos.61633003 and 61522301);Heilongjiang Province Science Foundation for Youths(Nos.QC2012C024 and QC2015064);the Research Fund for Doctoral Program of Higher Education of China(No.20132302110028)

摘　　要：In this paper,attitude coordinated tracking control algorithms for multiple spacecraft formation are investigated with consideration of parametric uncertainties,external disturbances,communication delays and actuator saturation.Initially,a sliding mode delay-dependent attitude coordinated controller is proposed under bounded external disturbances.However,neither inertia uncertainty nor actuator constraint has been taken into account.Then,a robust saturated delaydependent attitude coordinated control law is further derived,where uncertainties and external disturbances are handled by Chebyshev neural networks（CNN）.In addition,command filter technique is introduced to facilitate the backstepping design procedure,through which actuator saturation problem is solved.Thus the spacecraft in the formation are able to track the reference attitude trajectory even in the presence of time-varying communication delays.Rigorous analysis is presented by using Lyapunov-Krasovskii approach to demonstrate the stability of the closed-loop system under both control algorithms.Finally,the numerical examples are carried out to illustrate the efficiency of the theoretical results.In this paper,attitude coordinated tracking control algorithms for multiple spacecraft formation are investigated with consideration of parametric uncertainties,external disturbances,communication delays and actuator saturation.Initially,a sliding mode delay-dependent attitude coordinated controller is proposed under bounded external disturbances.However,neither inertia uncertainty nor actuator constraint has been taken into account.Then,a robust saturated delaydependent attitude coordinated control law is further derived,where uncertainties and external disturbances are handled by Chebyshev neural networks（CNN）.In addition,command filter technique is introduced to facilitate the backstepping design procedure,through which actuator saturation problem is solved.Thus the spacecraft in the formation are able to track the reference attitude trajectory even in the presence of time-varying communication delays.Rigorous analysis is presented by using Lyapunov-Krasovskii approach to demonstrate the stability of the closed-loop system under both control algorithms.Finally,the numerical examples are carried out to illustrate the efficiency of the theoretical results.

关 键 词：Actuator saturation Attitude control Communication delays Neural networks Spacecraft formation 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]