北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (9): 1797-1807.doi: 10.13700/j.bh.1001-5965.2017.0719

• 论文 • 上一篇    下一篇

基于时变增益ESO的多航天器SO(3)姿态协同控制

马鸣宇1,2, 董朝阳1, 王青3, 周敏4   

  1. 1. 北京航空航天大学 航空科学与工程学院, 北京 100083;
    2. 北京电子工程总体研究所, 北京 100854;
    3. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083;
    4. 航天系统仿真重点实验室 北京仿真中心, 北京 100854
  • 收稿日期:2017-11-21 出版日期:2018-09-20 发布日期:2018-09-21
  • 通讯作者: 董朝阳.E-mail:dongchaoyang@buaa.edu.cn E-mail:dongchaoyang@buaa.edu.cn
  • 作者简介:马鸣宇 男,博士研究生。主要研究方向:飞行器协同控制、网络控制系统理论;董朝阳 男,博士,教授,博士生导师。主要研究方向:飞行器设计,导航、制导与控制。
  • 基金资助:
    国家自然科学基金(61374012);航空科学基金(2016ZA51011)

Cooperative attitude control on SO(3) for multiple spacecraft with time-varying gain ESO

MA Mingyu1,2, DONG Chaoyang1, WANG Qing3, ZHOU Min4   

  1. 1. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. Beijing Institute of Electronic System Engineering, Beijing 100854, China;
    3. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    4. Beijing Simulation Center, Science and Technology on Special System Simulation Laboratory, Beijing 100854, China
  • Received:2017-11-21 Online:2018-09-20 Published:2018-09-21
  • Supported by:
    National Natural Science Foundation of China (61374012); Aeronautical Science Foundation of China (2016ZA51011)

摘要: 针对多航天器姿态协同控制问题,基于特殊正交群(SO(3))研究了存在干扰情形下的控制设计方法。结合有向通信拓扑建立了多航天器SO(3)模型,在此模型的基础上提出了一种时变增益扩张状态观测器(ESO)对系统的总干扰进行估计,削弱了常值增益ESO的峰化现象。利用相邻航天器的信息给出了旋转矩阵形式的协同指令,进一步基于SO(3)方法设计了协同控制器。同时采用ESO的输出在所设计的控制器中对系统的干扰进行补偿,从理论上给出了ESO的收敛性以及闭环系统的稳定性证明,保证多航天器系统能够实现稳定协同。仿真结果验证了本文方法的有效性和快速性。

关键词: 多航天器, 协同控制, 扩张状态观测器(ESO), 时变增益, 特殊正交群(SO(3))

Abstract: This paper is concerned with the cooperative attitude control of multiple spacecraft, and the control design method on special orthogonal group (SO(3)) with disturbance is studied. The multiple spacecraft system is modeled using SO(3) method and directed communication topology. Then, a time-varying gain extended state observer (ESO) is proposed to estimate the total disturbance in the system, and it lessens the peaking phenomenon. The control commands are formulated in the form of rotation matrices using the information of adjacent spacecraft. Thus, the cooperative controller based on SO(3) method is designed, and at the same time ESO output is used to compensate the disturbance on the system. The convergence of the ESO and the stability of the closed-loop system are analyzed in this paper, which shows that the attitudes of the multiple spacecraft could reach stable consensus. Simulation is conducted to verify the effectiveness of the proposed method.

Key words: multiple spacecraft, cooperative control, extended state observer (ESO), time-varying gain, special orthogonal group (SO(3))

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发