论文部分内容阅读
综合考虑了存在通信时延、拓扑结构切换、参数不确定性和外部扰动等情况下的编队卫星协同控制问题,分别提出了鲁棒位置和姿态协同控制器。采用Lyapunov直接法,通过恰当地选取公共的Lyapunov函数,保证了所设计的位置协同控制器对于通信时延和拓扑切换具有鲁棒性。控制器中设计了一个自适应项,用于在线补偿卫星质量的不确定性。进一步,引入了一个含有时变参数的非线性饱和函数向量项,保证了位置协同控制器对于外部扰动的鲁棒性,并且控制器是连续的。然后,将协同控制器推广到了姿态协同的情况,提出了类似的鲁棒姿态协同控制器。仿真结果表明了本文协同控制方案的有效性。
Considering the cooperative control of formation satellites in the presence of communication delay, topology switching, parameter uncertainty and external disturbances, the robust position and attitude cooperative controllers are proposed respectively. By using the Lyapunov direct method, the proper Lyapunov function can be chosen to ensure that the designed position cooperative controller is robust to communication delay and topology switching. An adaptive term is designed in the controller to compensate for the uncertainty of satellite quality online. Furthermore, a nonlinear saturation function vector term with time-varying parameters is introduced to ensure the robustness of the position cooperative controller to external disturbances and the controller is continuous. Then, the cooperative controller is generalized to the situation of attitude coordination, and a similar robust attitude coordination controller is proposed. Simulation results show the effectiveness of this collaborative control scheme.