Adaptive cooperative control for electromagnetic spacecraft formation flight position tracking
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摘要:
通过引入一致性理论针对电磁航天器编队相对位置协同控制问题设计了自适应协同控制器。分析了电磁航天器编队的基本原理，建立了电磁航天器编队相对运动精确的非线性动力学方程。基于电磁力远场计算模型的不确定性，对相对运动动力学模型进行了修正。在电磁力计算模型不确定和航天器间存在通信时延的条件下，对位置跟踪控制的目标设计了自适应协同控制器。考虑到电磁航天器磁矩产生能力的不同，给出了通过优化进行磁矩分配的方案。通过仿真表明：所设计的自适应协同控制器不仅实现了对期望轨迹的准确跟踪，而且相比人工势函数法，暂态维持编队构型的能力提高了4.9倍，并且所给出的磁矩分配方案实现了磁矩的合理分配。
Abstract:Aimed at the relative position cooperative control problem of electromagnetic spacecraft formation flight, an adaptive cooperative controller was designed based on the consensus theory. Firstly, primary principles and accurate nonlinear dynamics equation of the relative motion of electromagnetic spacecraft formation were discussed. The relative motion dynamics model was then amended considering the uncertainties of the electromagnetic distant field calculation model. Secondly, nonlinear adaptive cooperative control laws for formation station tracking were designed under the condition of electromagnetic model uncertainty and communication delay among spacecraft. Solutions of magnetic moment allocation by utilizing optimization method were developed according to the difference of the maximum magnetic moments that electromagnetic spacecraft can produce. Finally, simulation shows that the adaptive cooperative controller is effective, and compared with artificial potential function method, the ability of maintaining the instantaneous stability of formation shape is improved by 4.9 times. The allocation method of magnetic moments has also achieved reasonable results.
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Key words:
- electromagnetic spacecraft /
- formation flight /
- cooperative control /
- adaptive /
- position tracking
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