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研究了无向信息交互条件下的多卫星姿态同步和跟踪问题,分别在模型参数精确已知和存在模型参数不确定性的情形下设计分散式协同控制算法。当模型参数精确已知时,基于滑动模态变量设计的协同控制力矩,实现了编队卫星姿态的同步机动,即保证编队卫星姿态的同步,并同时跟踪期望的时变参考姿态轨迹。当在轨卫星存在模型参数不确定性和常值未知扰动力矩时,提出了一种自适应协同控制律,仍能实现多卫星姿态的同步机动。基于Lyapunov-Krasovskii的分析表明,当星间链路存在任意未知的定常通讯时延时,本文设计的控制器有效。数值仿真算例验证了本文提出的控制算法。
The synchronization and tracking of multi-satellite attitude under the condition of undirected information interaction are studied. The decentralized collaborative control algorithm is designed under the condition that the model parameters are accurately known and the model parameters are uncertain. When the model parameters are precisely known, the synchronized maneuver of formation satellite attitude is realized based on the coordinated control torque designed by sliding mode variables, that is, the synchronization of formation satellite attitude is guaranteed and the desired time-varying reference attitude trajectory is tracked at the same time. When the orbiting satellites have model uncertainties and unknown unknown disturbing moments, an adaptive cooperative control law is proposed, which can still achieve synchronous maneuver with multi-satellite attitude. The analysis based on Lyapunov-Krasovskii shows that the controller designed in this paper is effective when there is any unknown constant communication delay in the inter-satellite link. The numerical simulation example verifies the proposed control algorithm.