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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

王帅磊, 周绍磊, 代飞扬, 等 . 多航天器分布式事件触发分组姿态协同控制[J]. 北京航空航天大学学报, 2021, 47(2): 323-332. doi: 10.13700/j.bh.1001-5965.2020.0266
引用本文: 王帅磊, 周绍磊, 代飞扬, 等 . 多航天器分布式事件触发分组姿态协同控制[J]. 北京航空航天大学学报, 2021, 47(2): 323-332. doi: 10.13700/j.bh.1001-5965.2020.0266
WANG Shuailei, ZHOU Shaolei, DAI Feiyang, et al. Distributed event-triggered group attitude coordinated control of multi-spacecraft[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 323-332. doi: 10.13700/j.bh.1001-5965.2020.0266(in Chinese)
Citation: WANG Shuailei, ZHOU Shaolei, DAI Feiyang, et al. Distributed event-triggered group attitude coordinated control of multi-spacecraft[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 323-332. doi: 10.13700/j.bh.1001-5965.2020.0266(in Chinese)

多航天器分布式事件触发分组姿态协同控制

doi: 10.13700/j.bh.1001-5965.2020.0266
基金项目: 

国家自然科学基金 61273058

详细信息
    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

    通讯作者:

    周绍磊. E-mail: zhouslsd@sina.com

  • 中图分类号: V448;TP273

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

Funds: 

National Natural Science Foundation of China 61273058

More Information
  • 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。

     

  • 图 1  多航天器的无向拓扑

    Figure 1.  Undirected topology of multi-spacecraft

    图 2  航天器在3个分量上的姿态时间响应

    Figure 2.  Attitude time response of spacecraft on three components

    图 3  航天器在3个分量上的角速度时间响应

    Figure 3.  Angular velocity time response of spacecraft on three components

    图 4  文献[16]中航天器在3个分量上的姿态时间响应

    Figure 4.  Attitude time response of spacecraft on three components in Ref.[16]

    图 5  文献[16]中航天器在3个分量上的角速度时间响应

    Figure 5.  Angular velocity time response of spacecraft on three components in Ref.[16]

    图 6  大角度初值条件下航天器在3个分量上的姿态时间响应

    Figure 6.  Attitude time response of spacecraft on three components with large initial angles

    图 7  大角度初值条件下航天器在3个分量上的角速度时间响应

    Figure 7.  Angular velocity time response of spacecraft on three components with large initial angles

    表  1  触发结果统计

    Table  1.   Statistical triggering result

    编号 触发次数 最小时间间隔/s 最大时间间隔/s
    1 1 038 1.776 4×10-5 5.558 9
    2 870 4.440 9×10-2 5.278 8
    3 1 434 5.211 9×10-4 9.953 6
    4 1 771 3.041 6×10-3 8.723 3
    5 1 203 5.781 4×10-5 14.985 0
    6 1 133 1.141 2×10-3 16.095 6
    7 895 3.587 2×10-3 8.142 4
    8 507 2.224 3×10-2 8.102 8
    9 2 469 1.193 5×10-5 0.613 8
    下载: 导出CSV
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出版历程
  • 收稿日期:  2020-06-16
  • 录用日期:  2020-07-17
  • 网络出版日期:  2021-02-20

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