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

doi:10.13700/j.bh.1001-5965.2017.0719

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

马鸣宇^{1, 2},
董朝阳^1, ,,
王青³,
周敏⁴

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

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
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出版历程
- 收稿日期: 2017-11-21
- 录用日期: 2018-03-02
- 网络出版日期: 2018-09-20

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

MA Mingyu^{1, 2},
DONG Chaoyang^{1
, ,},
WANG Qing³,
ZHOU Min⁴

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

Funds:

National Natural Science Foundation of China 61374012

Science Foundation of China 2016ZA51011

More Information

Corresponding author: DONG Chaoyang, E-mail:dongchaoyang@buaa.edu.cn

摘要

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。
- 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.
- multiple spacecraft /
- cooperative control /
- extended state observer (ESO) /
- time-varying gain /
- special orthogonal group (SO(3))

HTML全文

图 1 航天器通信拓扑

Figure 1. Communication topology of spacecraft

下载: 全尺寸图片幻灯片

图 2 多航天器姿态角变化曲线

Figure 2. Variation curves of attitude angles of multiple spacecraft

下载: 全尺寸图片幻灯片

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)

下载: 全尺寸图片幻灯片

图 4 控制力矩范数对比曲线

Figure 4. Comparative curves of norms of control moment

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图 5 不同方法Q值变化对比曲线

Figure 5. Comparative curves of Q with different methods

下载: 全尺寸图片幻灯片

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 ΔJ_i/(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

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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

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

计量

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

Corresponding author: DONG Chaoyang, E-mail:dongchaoyang@buaa.edu.cn

计量

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留言板

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

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

计量

出版历程

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

Corresponding author: DONG Chaoyang, E-mail:dongchaoyang@buaa.edu.cn

计量

出版历程

目录

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