航空学报 > 2011, Vol. 32 Issue (9): 1644-1655   doi: CNKI:11-1929/V.20110324.1152.006

编队卫星分布式鲁棒饱和姿态协同控制

张保群, 宋申民, 陈兴林   

  1. 哈尔滨工业大学 控制理论与制导技术研究中心, 黑龙江 哈尔滨 150001
  • 收稿日期:2010-12-08 修回日期:2011-01-04 出版日期:2011-09-25 发布日期:2011-09-16
  • 通讯作者: 宋申民(1968-) 男,博士,教授,博士生导师。主要研究方向:航天器轨道机动与姿态控制、非线性鲁棒控制与智能控制、先进滤波方法与组合导航等。 Tel: 0451-86402204-8214 E-mail: songshenmin@hit.edu.cn E-mail:songshenmin@hit.edu.cn
  • 作者简介:张保群(1983-) 男,博士研究生。主要研究方向:编队卫星协同控制、卫星姿态控制。 Tel: 0451-86402204-8212 E-mail: zhangbq005@yahoo.com.cn
  • 基金资助:

    国家"863"计划

Decentralized Robust Saturated Attitude Coordination Control of Satellites Within Formation

ZHANG Baoqun, SONG Shenmin, CHEN Xinglin   

  1. Research Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China
  • Received:2010-12-08 Revised:2011-01-04 Online:2011-09-25 Published:2011-09-16

摘要: 研究跟踪时变参考姿态情况下控制输入饱和的编队飞行卫星姿态协同控制问题。针对不同情形,通过恰当地利用双曲正切函数,提出3种连续有界的协同控制器。首先,在无外部扰动和参数不确定性的情况下,提出一种理想的饱和协同控制器。进一步,考虑角速度不可测量的情况,利用无源滤波器设计无角速度反馈的饱和协同控制器。当外部扰动和参数不确定性存在时,通过在双曲正切函数中引入动态时变参数,提出一种连续的鲁棒饱和协同控制器。由于在本文算法作用下的闭环协同系统是非自治的,通过合理地利用Barbalat引理分析了状态的收敛性。仿真结果表明了所提控制方案的有效性。

关键词: 编队飞行, 姿态协同, 控制输入饱和, 无角速度反馈, 鲁棒控制

Abstract: The attitude coordination control problem for formation flying satellites associated with time-varying reference attitude tracking subject to control input saturation is investigated in this paper. According to different cases, three kinds of continuous and bounded coordination controllers are proposed with the novel use of hyperbolic tangent functions. Firstly, an ideal saturated coordination controller is presented in the absence of external disturbances and parametric uncertainty. Furthermore, taking account of unavailability of measurements of angular velocities, passive filters are applied to the angular-velocity-free feedback saturated coordination controller design. When external disturbances and parametric uncertainty exist, by introducing some dynamic time-varying parameters in the hyperbolic tangent functions, a continuous robust saturated coordination controller is proposed. Due to the fact that the closed-loop coordination systems under these algorithms are non-autonomous, Barbalat's lemma is utilized properly for convergence analysis of states. Simulation results are provided to show the effectiveness of the proposed control schemes.

Key words: formation flying, attitude coordination, control input saturation, angular-velocity-free feedback, robust control

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