基于改进自主避障算法的星群重构预设时间控制  

Predefined-Time Control for Satellite Swarm Reconfiguration Based on Improved Autonomous Obstacle Avoidance Approach

作　　者：罗义杰 刘闯 岳晓奎[1,2] 李思远 LUO Yijie;LIU Chuang;YUE Xiaokui;LI Siyuan(School of Astronautics,Northwestern Polytechnical University,Xi’an 710072;Research&Development Institute of Northwestern Polytechnical University in Shenzhen,Shenzhen 518057;School of Astronautics,Harbin Institute of Technology,Harbin 150001)

机构地区：[1]西北工业大学航天学院,西安710072 [2]西北工业大学深圳研究院,深圳518057 [3]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《飞控与探测》2024年第4期33-42,共10页Flight Control & Detection

基　　金：国家自然科学基金(62103336,U2023206,62303136);广东省基础与应用基础研究基金(2021A1515110539,2023A1515011666);中国科协青年人才托举工程(2022QNRC001);陕西省重点研发计划(2023-YBGY-384);中国博士后科学基金(2023M740912);国家资助博士后研究人员计划(GZC20233447)。

摘　　要：重点研究星群在空间环境力作用下的重构控制方法,通过设计连续有限时间收敛的扩展状态观测器(Finite-Time Convergent Extended State Observer, FTCESO),实现在有限时间内对卫星的相对运动和空间环境中的不确定扰动进行估计,设计非奇异快速终端滑模控制器(Non-Singular Fast Terminal Sliding Mode Controller, NFTSMC)实现系统在有限时间的快速稳定。基于FTCESO和NFTSMC设计预设时间控制器,并将其运用在星群重构运动过程中,实现多颗领导卫星从初始构型到期望构型的转化,同时基于改进人工势场法,设计每颗领导卫星下的跟随卫星之间的自主避障与协同控制方法,保证星群在预设时间内的几何重构和拓扑构建,并维持自身运行的稳定性,以满足特殊空间任务需求。This paper focuses on the reconfiguration control method of the satellite swarm under the action of space environment force.The continuous finite-time convergent extended state observer(FTCESO)is designed to realize the estimation of the relative motion of the satellites and the uncertain perturbation in the space environment in finite time.A non-singular fast terminal sliding mode controller(NFTSMC)is designed to achieve fast stabilization of the system in a finite time.Based on FTCESO and NFTSMC,the predefined-time controller is developed for the reconfiguration process of the satellite swarm to drive the leader in the swarm from the initial configuration to the desired configuration.Meanwhile,based on the improved artificial potential field method,the autonomous obstacle avoidance and cooperative control approach between followers around each leader satellite is projected to ensure the geometrical reconfiguration and topology construction in a predefined time and maintain the stability of its own operation,to meet the requirements of special space missions.

关 键 词：星群重构 预设时间控制 改进人工势场 协同控制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]