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针对高精度空间飞行器编队要求,对主从式飞行器相对平动和相对转动运动进行建模,用四元数叉乘表示主从航天器的相对姿态,构建航天器的误差动力学方程,进而得到六自由度飞行器编队的非线性动力学模型。基于所得模型,设计了六自由度飞行器编队控制的滑模控制器,使得从飞行器的平动与转动能够跟踪期望的状态轨迹,并基于Lyapunov定理证明该系统为一致渐近稳定。仿真结果表明,该控制器能够保证从飞行器六自由度运动跟踪误差的一致渐近收敛,为空间飞行器在轨服务等飞行器编队实际应用提供了理论参考。
According to the formation requirements of high-precision spacecraft, the relative translation and relative rotation of the master-slave aircraft are modeled, and the relative attitude of the master-slave spacecraft is expressed by a quaternion fork to construct the error dynamics equation of the spacecraft. Nonlinear Dynamics Model of Six Freedom Aircraft Formation. Based on the model obtained, a sliding mode controller for formation control of a six degree of freedom aircraft is designed, which makes it possible to track the desired state trajectory by translation and rotation of the aircraft. The Lyapunov theorem proves that the system is uniformly asymptotically stable. The simulation results show that this controller can ensure the uniform asymptotic convergence of the tracking error of the six-degree-of-freedom flight vehicle, and provide a theoretical reference for the practical application of the spacecraft in orbit service.