多航天器系统分布式预定时间姿态协同控制  

Distributed Predefined-time Attitude Coordinated Control for Multiple Spacecraft Systems

作　　者：梅宏 龚京民 马小陆 谭毅波 MEI Hong;GONG Jingmin;MA Xiaolu;TAN Yibo(School of Aeronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;School of Electrical and Information Engineering,Anhui University of Technology,Ma′anshan 243032,Anhui,China)

机构地区：[1]南京航空航天大学航天学院,南京211106 [2]安徽工业大学电气与信息工程学院,安徽马鞍山243032

出　　处：《机械科学与技术》2025年第1期157-168,共12页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(61472282);安徽省科技重大专项(202003a05020028);安徽高校自然科学研究重点项目(KJ2019A0065);安徽省重点研究与开发计划(202004a0502001);特种重载机器人安徽省重点实验室开放课题(TZJQR004-2020)。

摘　　要：针对受外部干扰和输入饱和的无向拓扑多航天器系统的姿态协同控制问题,提出了一种基于预定时间的分布式姿态协同跟踪算法。首先,设计了一种分布式预定时间滑模观测器,分别用于每个跟随航天器在预定时间内对领导者姿态和角速度信息的估计。其次,利用分布式观测器和滑模技术,提出了一种考虑执行机构饱和的分布式预定时间姿态协同跟踪控制器。所提出的控制方案是非奇异的,能够实现在约束条件下的多航天器的全局预定时间姿态协同跟踪控制。然后,利用李亚普诺夫稳定性理论对该系统进行了稳定性分析。最后,仿真结果验证了所提控制方案的有效性,且具有较快的收敛速度和较高的控制精度。This article investigates the problem of distributed attitude synchronization and tracking control for multiple spacecraft systems with external disturbance and input saturation,and a distributed attitude coordination control algorithm based on predefined time is proposed.Firstly,a novel distributed predefined-time sliding mode observer is designed to estimate the attitude and angular velocity of the leader for each spacecraft.The observer can accurately estimate the state information of the leader and guarantee the convergence of the estimation error in predefined-time.Secondly,a distributed predefined-time attitude cooperative tracking controller is proposed by using distributed observer and sliding mode technology.The proposed control scheme is non-singular and can realize the global attitude cooperative tracking control of multiple spacecraft under constraints.Then,the stability of the system is analyzed by using Lyapunov stability theory.Finally,the simulation results verify the effectiveness of the proposed control scheme.

关 键 词：航天器编队 姿态协同控制 终端滑模控制 预定时间控制 分布式协同控制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]