输入饱和下多航天器分布式固定时间输出反馈姿态协同控制

doi:10.7527/S1000-6893.2022.27465

Abstract

Abstract:

This paper studies the distributed fixed-time output-feedback attitude consensus control problem of multiple spacecraft with input saturation under directed graph. First， only a part of the spacecrafts can obtain the attitude and angular velocity state information of the leader. A fixed-time observer of leader’s attitude is designed to estimate leader’s attitude. Then， for the issue that spacecrafts being unable to measure their own ungular velocity， this paper proposes a fixed-time state observer to estimate the angular velocity of spacecraft in a fixed time. Based on the estimated leader’s attitude and spacecraft angular velocity， a fixed-time attitude tracking controller is proposed， and the fixed-time stability of the spacecraft attitude system is proved rigorously. Finally， some simulations are conducted， and simulation results verify the effectiveness of the proposed control scheme.

Key words: input saturation, output feedback, fixed-time control, consensus control, multiple spacecraft, spacecraft attitude control

CLC Number:

V448.2

Chuang XU, Baolin WU. Distributed fixed-time output-feedback attitude consensus control for multiple spacecraft with input saturation[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(10): 327465-327465.

Figures/Tables 12

Fig. 1

Table 1

Numerical simulation parameters of spacecraft

参数	数值
跟随航天器初始姿态/m	$q 1 0 = 0.15, - 0.1, - 0.1 T q 2 0 = - 0.1, 0.1, 0.1 T q 3 0 = 0, 0.1, - 0.1 T q 4 0 = - 0.1, 0, 0.15 T q 5 0 = 0, 0.2, - 0.1 T q 6 0 = - 0.1, 0, 0.15 T$
跟随航天器初始角速度/（（°）·s^-1）	$ω i 0 = 0 i = 1,2, …, 6$
主航天器初始姿态/（（°）·s^-1）	$q 0 0 = 0, 0, 0 ω 0 = 10 - c o s t 8, c o s t 9, - s i n t 10$
邻接权值矩阵	$A = 0 0.2 0 0.2 00 0 0.2 000 0.2 0.2 0 0.2 0 0.2 0 0.2 0 0.2 0 0.2 0 00000 0.2 000000 A 0 = d i a g 1, 0, 0, 0, 0, 1$
转动惯量 /（kg·m^-2）	$J 1 = 115,7, 6; 6,130,8; 6,8, 175 J 2 = 145,7, 6; 6,150,8; 6,8, 155 J 3 = 125,7, 6; 6,150,8; 6,8, 155 J 4 = 135,7, 6; 6,130,8; 6,8, 140 J 5 = 135,8, 5; 8,140,6; 5,6, 160 J 6 = 120,4, 7; 4,140,5; 7,5, 140$
外界干扰力矩 /（N·m）	$d i = 0.01 s i n i t 50, c o s i t 60, s i n i t 40 i = 1,2, …, 6$

Table 1

Table 2

Numerical simulation parameters of the leader spacecraft’s attitude observer

参数	数值
观测器初值	$p 11 0 = 0.2, - 0.1, 0.1 T p 12 0 = 0.1, 0.1, 0.15 T p 13 0 = - 0.1, 0.15, - 0.1 T p 14 0 = 0.15, - 0.2, 0.11 T p 15 0 = 0, - 0.15, - 0.15 T p 16 0 = - 0.15, 0.2, 0.2 T p 21 0 = 0.1, 0.1, 0.1 T p 22 0 = 0.09, 0.08, 0.07 T p 23 0 = - 0.09, - 0.07, 0.08 T p 24 0 = 0.07, - 0.08, - 0.09 T p 25 0 = 0.08, 0.06, 0.05 T p 26 0 = - 0.1, - 0.1, - 0.1 T$
观测器参数	$α 1 = β 1 = 1, λ 1 = 0.000 1, v 1 = 3 / 5, v 2 = 2$

Table 2

Table 3

Numerical simulation parameters of spacecraft state observer

参数	数值
观测器初值	$z 11 0 = 0.2, - 0.1, 0.1 T z 12 0 = 0.1, 0.1, 0.15 T z 13 0 = - 0.1, 0.15, - 0.1 T z 14 0 = 0.15, - 0.2, 0.11 T z 15 0 = 0, - 0.15, - 0.15 T z 16 0 = - 0.15, 0.2, 0.2 T z 21 0 = 0.05, 0.05, 0.05 T z 22 0 = 0.045, 0.04, 0.035 T z 23 0 = - 0.045, - 0.035, 0.04 T z 24 0 = 0.035, - 0.04, - 0.045 T z 25 0 = 0.04, 0.03, 0.025 T z 26 0 = - 0.05, - 0.05, - 0.05 T$
观测器参数	$μ 0 = 10, μ 1 = μ 2 = μ 3 = μ 4 = 1, δ 1 = 0.9$

Table 3

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

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Distributed fixed-time output-feedback attitude consensus control for multiple spacecraft with input saturation

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