北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (2): 323-332.doi: 10.13700/j.bh.1001-5965.2020.0266

• 论文 • 上一篇    下一篇

多航天器分布式事件触发分组姿态协同控制

王帅磊, 周绍磊, 代飞扬, 刘伟, 闫实   

  1. 海军航空大学, 烟台 264001
  • 收稿日期:2020-06-16 发布日期:2021-03-08
  • 通讯作者: 周绍磊 E-mail:zhouslsd@sina.com
  • 作者简介:王帅磊,男,博士研究生。主要研究方向:多智能体系统分组一致性;周绍磊,男,博士,教授,博士生导师。主要研究方向:飞行器控制与制导;代飞扬,男,硕士研究生。主要研究方向:无人机编队飞行控制;刘伟,男,博士,讲师。主要研究方向:多智能体系统一致性;闫实,男,博士,讲师。主要研究方向:多智能体系统一致性。
  • 基金资助:
    国家自然科学基金(61273058)

Distributed event-triggered group attitude coordinated control of multi-spacecraft

WANG Shuailei, ZHOU Shaolei, DAI Feiyang, LIU Wei, YAN Shi   

  1. Naval Aviation University, Yantai 264001, China
  • Received:2020-06-16 Published:2021-03-08

摘要: 在分布式事件触发机制的基础上对多航天器分组姿态协同控制问题进行了研究。系统内包含若干个分组,并且航天器间的信息交互被抽象为无向拓扑。以修正罗德里格斯参数(MRP)描述航天器的姿态,构造了包含姿态和角速度的辅助变量,并设计了分布式的控制输入。在分布式事件触发机制下,对每个航天器设计了触发函数,并结合代数图论和Lyapunov稳定性理论证明了多航天器能够渐近达到分组姿态协同,同时证明了系统内不会发生Zeno现象。仿真结果验证了在分布式事件触发机制下提出的控制输入的有效性。

关键词: 多航天器, 分组, 姿态控制, 事件触发, 无向拓扑, 触发函数

Abstract: Group attitude coordinated control of multi-spacecraft on the basis of distributed event-triggered mechanism is investigated. The multi-spacecraft system contains several subgroups, and the information exchange among spacecraft is regarded as undirected topology. The attitude of spacecraft is described by Modified Rodrigues Parameters (MRP), an auxiliary variable with attitude and angular velocity is constructed, and distributed control input is designed. Under distributed event-triggered mechanism, triggering function is designed for every spacecraft. It is proved with algebraic graph theory and Lyapunov stability theory that multi-spacecraft can reach group attitude coordination asymptotically, and it is also proved that Zeno behavior will not occur in the system. The effectiveness of the control input proposed under distributed event-triggered mechanism is verified by simulation results.

Key words: multi-spacecraft, group, attitude control, event-triggered, undirected topology, triggering function

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