时变有向图下多航天器系统无相对速度信息的自适应编队控制  

Adaptive Formation Control of Multi-Spacecraft Systems Without Relative Velocity Information Under Time-Varying Directed Graphs

作　　者：孙悦 梅杰 马广富 SUN Yue;MEI Jie;MA Guangfu(Institute of Space Science and Applied Technology,Harbin Institute of Technology(Shenzhen),Shenzhen 518055;School of Mechanical Engineering and Automation,Harbin Institute of Technology(Shenzhen),Shenzhen 518055)

机构地区：[1]哈尔滨工业大学(深圳)空间科学与应用技术研究院,深圳518055 [2]哈尔滨工业大学(深圳)机电工程与自动化学院,深圳518055

出　　处：《飞控与探测》2024年第4期1-9,共9页Flight Control & Detection

基　　金：国防基础科学研究计划项目(JCKY2021603B030);深圳市基础研究计划项目(JCYJ20210324132215038);国家自然科学基金(62273118)。

摘　　要：针对有向切换图下具有参数不确定性的多航天器系统的编队控制问题,依照模型参考自适应一致性思路,提出了一种新的无需相对速度信息的编队控制算法。首先,针对通信结构为切换有向图的多航天器编队系统设计一个参考模型,该参考模型以航天器的编队误差和绝对速度作为输入。其次,对每个航天器设计了自适应控制算法以实现对参考模型输出的跟踪,其中设计自适应律来估计航天器的质量来解决航天器质量未知的问题。最后对由6个航天器组成的编队系统进行数值仿真验证,结果表明所提算法能够保证在有向切换图下航天器收敛到期望的队形。A novel formation control algorithm is introduced to address the formation control problem of multi-spacecraft systems with parameter uncertainties under directed switching graphs,employing a model-referenced adaptive consensus approach.Firstly,a reference model is devised for the multi-spacecraft formation system with a switching directed graph.This reference model takes into account the formation error and absolute velocity of spacecraft as inputs.Subsequently,an adaptive control algorithm is designed for each spacecraft to track the output of the reference model.Adaptive laws are incorporated to estimate the spacecraft's mass,thereby addressing the issue of unknown spacecraft mass.Finally,a numerical simulation is conducted on a formation system comprising six spacecraft,demonstrating the efficacy of the proposed algorithm in ensuring spacecraft convergence to the desired formation under directed switching graphs.

关 键 词：航天器编队 模型参考自适应一致性 质量未知 有向切换图 无相对速度信息 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]