多航天器集中事件触发分组姿态协同控制  

Multi-Spacecraft Centralized Event-Triggered Group Attitude Coordinated Control

作　　者：王帅磊 周绍磊 祁亚辉 张瑞雪 WANG Shuailei;ZHOU Shaolei;QI Yahui;ZHANG Ruixue(Naval Aviation University, Yantai 264001, China;Institute of Navigation and Control Technology, NORINCO GROUP, Beijing 100089, China)

机构地区：[1]海军航空大学,山东烟台264001 [2]中国兵器工业导航与控制技术研究所,北京100089

出　　处：《兵器装备工程学报》2021年第4期183-187,共5页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(61273058)。

摘　　要：针对多航天器分组姿态协同问题,提出了基于集中事件触发机制的控制输入。以修正罗德里格斯参数描述航天器姿态模型,并将多航天器系统作为无向图进行研究。通过Lyapunov稳定性理论和代数图论,证明了所提出的控制输入能够使系统达到分组姿态协同,并且触发时刻间隔有正的下界,排除了Zeno现象。仿真结果表明,航天器的角速度将收敛到零,每个分组内航天器的姿态都能达到协同,系统整体能够达到分组姿态协同。Control input based on centralized event-triggered mechanism was proposed for multi-spacecraft group attitude coordinated control problem.Modified Rodrigues Parameters were used to describe the attitude model of spacecraft,and the multi-spacecraft system was treated as an indirect graph in the research.With Lyapunov stability theory and algebraic graph theory,it is proved that the control input can lead the system to group attitude coordination,and the triggering instant interval has a positive lower bound,which means Zeno behavior is excluded.Simulation results show that the angular velocity of spacecraft will converge to zero,and in each subgroup,the attitude of spacecraft will reach coordination,and the system can reach group attitude coordination.

关 键 词：航天器 姿态 分组 事件触发 姿态协同 集中式 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]