摘要
针对多航天器系统的姿态协同控制问题,基于特殊正交群(Special Orthogonal Group,SO(3))提出了滑模协同控制设计方法。结合有向通信拓扑,建立了多航天器SO(3)姿态模型。在此基础上研究了SO(3)上协同误差形式,提出了适用于协同控制器构造的SO(3)指令设计方法。为了解决姿态奇异问题,根据SO(3)姿态特性引入补偿项并设计了相应的滑模面,进一步采用反步法完成了SO(3)协同控制器设计,同时给出稳定性分析过程。提出的反步滑模方法保证了协同控制器在整个姿态空间内的适用性,使得多航天器系统能够实现稳定的姿态协同。文中采用两组多航天器系统仿真校验了所提协同方法的有效性。
The coordinated attitude control of multiple spacecraft is concerned in this paper and a sliding mode control method,on special orthogonal group（ SO（ 3）） is proposed. Combined with the directed communication topology,the attitude model on SO（ 3） for multiple spacecraft is established. Then,the relative errors between the spacecraft on SO（ 3）are formed,and the coordinated commands are given to formulate the SO（ 3） controllers. To handle the singularity in attitude system,a compensatory term related to the attitude on SO（ 3） is introduced to construct the sliding surface.Furthermore,by using the backstepping method the sliding mode controllers are providied with the stability analysis. The proposed backstepping sliding mode control strategy guarantees the controllers to be functional in the entire domain of the attitude,and then the multiple spacecraft can reach stable attitude consensus. Two simulations are conducted to illustrate the effectiveness of the proposed method.
作者
马鸣宇
董朝阳
马思迁
王青
MA Ming-yu;DONG Chao-yang;MA Si-qian;WANG Qing(School of Aeronautic Science and Engineering,Beihang University,Beijing 100191,China;Beijing Institute of Electronic System Engineering,Beijing 100854,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China)
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2018年第6期664-673,共10页
Journal of Astronautics
基金
国家自然科学基金(61374012)
航空科学基金(2016ZA51011)
关键词
多航天器
协同控制
反步滑模方法
特殊正交群
Multiple spacecraft
Coordinated control
Backstepping sliding mode method
SO （ 3 ）
