在轨服务航天器编队飞行协同控制方法研究

Based on the innovative idea that combines on-orbit servicing and spacecraft formation flying together organically, in this project we try to resolve the key control issues for on-orbit servicing spacecraft formation, including the integrated orbit and attitude control for two-body formation and distributed cooperative control for multi-body formation respectively. For the former, the integrated orbit and attitude dynamic model based on actuator configuration and dual quaternion respectively will be proposed first, based on which the finite time stable control will be carried out using nonsingular terminal sliding mode then. In view of the actuator saturation and no angular velocity feedback due to sensor configuration, the saturated output feedback control will be implemented based on command filter meanwhile. For the latter, i.e. the distributed cooperative control for multi-body formation, the distributed cooperative tracking will be studied based on the consensus theory first. Then, distributed containment control under directed graph will be carried out so that the following spacecraft could move and keep into the convex closure at the specified location nearby the target spacecraft, which is made by the leading spacecraft. Furthermore, the cooperative control item will be analyzed utilizing the input-to-state stability theory in order to propose the cooperative parameter design method. According to the research above, this project aims to obtain new theories and new methods which process both theoretical research and application reference value for the development of on-orbit servicing in the future.

本项目立足于将在轨服务与航天器编队飞行有机融合的创新思路，拟针对在轨服务航天器编队飞行控制中的关键问题开展研究，包括二体编队的姿轨一体化控制和多体编队的分布式协同控制。对于前者，拟建立基于执行机构配置和对偶四元数法的姿轨一体化动力学模型，并针对快速性和鲁棒性需求开展基于非奇异终端滑模的有限时间控制方法研究；考虑小型航天器执行机构输出有界及由于敏感器配置或故障引起的无角速度反馈情况，开展基于指令滤波器的饱和输出反馈控制研究。对于后者，拟首先研究基于一致性的分布式协同跟踪控制问题；进一步，在有向通讯拓扑结构下开展分布式包含控制方法研究以使跟随航天器能够收敛到由领航航天器在目标航天器指定位置围成的凸包内；最后，拟基于输入-状态稳定性理论研究协同控制项的作用并提出协同控制参数的设计方法。通过开展以上研究，本课题有望为我国在轨服务技术的发展获得兼具理论研究和应用参考价值的新理论和新方法。

空间在轨服务是国际科研热点和国家重大需求，本项目以此为研究背景，积极开展了航天器编队飞行控制在在轨服务中的应用问题研究，解决了航天器编队飞行控制中的若干问题。具体包括：研究了近距离在轨服务航天器高精度姿轨一体化控制问题，分析了航天器姿态与轨道动力学之间的耦合关系，建立了面向控制的航天器姿轨一体化动力学数学模型，分别提出了基于非奇异终端滑模的航天器姿轨一体化有限时间控制器设计方法和基于指令滤波器的饱和输出反馈控制器设计方法。研究了在轨服务航天器编队分布式协同控制问题，建立了在轨服务与编队飞行之间的需求关系，提出了基于基于一致性的分布式协同跟踪控制方法和分布式包含控制器设计方法。在完成研究任务的基础上，本项目还进一步研究了空间在轨服务任务中的组合体控制问题，建立了组合体姿态运动数学模型，开展了数据驱动的组合体姿态控制方法研究。项目研究成果具备一定的理论研究意义，同时也为我国相关领域工程应用具有一定的参考价值。