考虑状态约束的航天器编队分布式姿态协同跟踪控制  

Distributed attitude coordinated tracking control for spacecraft formation with state constraints

作　　者：王文佳 李传江[1] 孙延超[1] 马广富[1] WANG Wen-jia;LI Chuan-jiang;SUN Yan-chao;MA Guang-fu(School of Astronautics,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《控制与决策》2018年第9期1584-1590,共7页Control and Decision

基　　金：国家自然科学基金项目(61403103;61304005;61273175)

摘　　要：针对有向通信拓扑结构下的航天器编队姿态协同控制问题,提出一种基于反步法的分布式姿态协同跟踪控制律.在仅有部分跟随航天器可以获取动态领航航天器信息的情况下,利用多层神经网络的逼近特性对系统的非线性不确定性进行估计.同时,考虑到航天器编队的姿态协同跟踪控制性能,构造Barrier Lyapunov函数,使得状态变量保持在预设的约束区间内,进而实现对姿态跟踪误差的约束.根据代数图论和Lyapunov理论,证明跟随航天器的姿态跟踪误差最终有界.仿真分析表明了所提出控制方法的有效性.A distributed attitude coordinated tracking controller is proposed based on the backstepping method for spacecraft formation under the directed communication topology. The multilayer neural network is utilized to estimate the nonlinear uncertainties, when only a subset of the follower spacecraft can receive the information of the leader spacecraft.By considering the attitude tracking performance of the spacecraft formation, the Barrier Lyapunov function is constructed to keep the state variables in the constraint interval and achieve the constraints of attitude tracking errors. According to the algebraic graph theory and Lyapunov theory, the proposed controller can guarantee the ultimate boundedness of the attitude tracking errors for the follower spacecraft. Simulation results show the effectiveness of the proposed method.

关 键 词：航天器编队 姿态跟踪 协同控制 神经网络 BARRIER LYAPUNOV函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]