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基于时变增益ESO的多航天器SO(3)姿态协同控制

马鸣宇 董朝阳 王青 周敏

马鸣宇, 董朝阳, 王青, 等 . 基于时变增益ESO的多航天器SO(3)姿态协同控制[J]. 北京航空航天大学学报, 2018, 44(9): 1797-1807. doi: 10.13700/j.bh.1001-5965.2017.0719
引用本文: 马鸣宇, 董朝阳, 王青, 等 . 基于时变增益ESO的多航天器SO(3)姿态协同控制[J]. 北京航空航天大学学报, 2018, 44(9): 1797-1807. doi: 10.13700/j.bh.1001-5965.2017.0719
MA Mingyu, DONG Chaoyang, WANG Qing, et al. Cooperative attitude control on SO(3) for multiple spacecraft with time-varying gain ESO[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(9): 1797-1807. doi: 10.13700/j.bh.1001-5965.2017.0719(in Chinese)
Citation: MA Mingyu, DONG Chaoyang, WANG Qing, et al. Cooperative attitude control on SO(3) for multiple spacecraft with time-varying gain ESO[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(9): 1797-1807. doi: 10.13700/j.bh.1001-5965.2017.0719(in Chinese)

基于时变增益ESO的多航天器SO(3)姿态协同控制

doi: 10.13700/j.bh.1001-5965.2017.0719
基金项目: 

国家自然科学基金 61374012

航空科学基金 2016ZA51011

详细信息
    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

    通讯作者:

    董朝阳, E-mail:dongchaoyang@buaa.edu.cn

  • 中图分类号: V448;TP273

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

Funds: 

National Natural Science Foundation of China 61374012

Science Foundation of China 2016ZA51011

More Information
  • 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。

     

  • 图 1  航天器通信拓扑

    Figure 1.  Communication topology of spacecraft

    图 2  多航天器姿态角变化曲线

    Figure 2.  Variation curves of attitude angles of multiple spacecraft

    图 3  考虑干扰补偿的控制力矩(航天器4)

    Figure 3.  Control moment with disturbance compensation (Spacecraft 4)

    图 4  控制力矩范数对比曲线

    Figure 4.  Comparative curves of norms of control moment

    图 5  不同方法Q值变化对比曲线

    Figure 5.  Comparative curves of Q with different methods

    表  1  航天器初始条件和参数

    Table  1.   Initial conditions and parameters of spacecraft

    航天器 不确定性
    ΔJi/(kg·m2)
    俯仰角/
    (°)
    偏航角/
    (°)
    滚转角/
    (°)
    1 50 30 10
    2 15 10 20
    3 0 -10 40
    4 5 -8 20
    5 -10 0 10
    下载: 导出CSV
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出版历程
  • 收稿日期:  2017-11-21
  • 录用日期:  2018-03-02
  • 刊出日期:  2018-09-20

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