微小卫星编队飞行饱和有限时间协同控制算法研究

Micro-satellite formation flying (MSFF) is a class of nonlinear system in which the system states are strongly coupled. The design of the saturated finite-time distributed coordinated control algorithm for MSFF is faced with many tough challenging problems, such as communication time delay, switching topology, state constraint, and possible collision between members of the formation, to list a few. This project aims at solving the saturated finite-time distributed coordinated control problem for MSFF. By using the consensus algorithm, behavior-based control strategy, finite-time control and algebraic graph theory, the following three algorithms are researched..• The saturated robust finite-time distributed coordinated control strategy is proposed in the presence of external disturbances, parameter uncertainties and no velocity measurement..• The saturated finite-time distributed coordinated control strategy is designed when the system of MSFF has communication time delay and switch topology..• The saturated finite-time distributed coordinated control strategy with obstacle avoidance is obtained to deal with forbidden flying zones in the system of MSFF. .Compared with the traditional asymptotic stability and exponential stability coordinated control strategies, the saturated finite-time distributed coordinated control strategies have faster convergence speed and stronger robustness. Research results of this subject will provide not only valuable methods and theoretic basis for the distributed coordination control of MSFF but also technical support for practical engineering applications.

微小卫星编队飞行系统具有状态强耦合性和非线性的特性，其饱和有限时间分布式协同控制算法的设计面临着许多挑战性难题，包括：通信时延、拓扑切换、状态受限和编队成员之间的碰撞等。本项目拟重点围绕微小卫星编队飞行饱和有限时间分布式协同控制问题，利用一致性算法、基于行为的控制思想、有限时间控制方法和代数图论等理论，研究编队飞行系统存在外部扰动、参数不确定性和速度不可测时的饱和有限时间分布式协同控制算法；提出编队飞行系统存在通信时延和拓扑切换时的饱和有限时间分布式协同控制算法；设计编队飞行系统存在禁忌区域时的具有自主避障能力的饱和有限时间分布式协同控制算法。与传统渐近稳定和指数稳定的协同控制方法相比，饱和有限时间分布式协同控制算法收敛速度更快、鲁棒性更强。本项目的研究结果将为微小卫星编队飞行任务中的协同控制提供可借鉴的设计思路和理论依据，并为其实际工程应用提供技术支撑。

微小卫星编队飞行是未来航天技术的主要发展方向之一，其饱和有限时间分布式协同控制算法的设计面临着许多挑战性的难题。本项目利用有限时间控制理论和齐次理论等方法，深入地研究了系统存在部分状态不可测、非理想通信、自主避障与执行器饱和等情形时的微小卫星编队飞行有限时间分布式协同控制。主要研究结果包括以下三个部分：.1.首先，利用饱和函数和齐次理论设计了一种新的积分滑模面，基于该滑模面解决了有限时间饱和控制问题。其次，设计了新的有限时间观测器，解决了无速度反馈时的有限时间饱和控制问题。最后，把这些理论应用到微小卫星编队飞行系统，并通过仿真验证了协同控制策略的有效性。.2.首先，对通信时延条件下的相平面分析法在航天器控制领域中的应用进行了归纳和分析。其次，利用滑模控制理论解决了非理想通信条件下的微小卫星编队飞行鲁棒姿态协同控制问题。最后，通过仿真验证了协同控制策略的有效性。.3.首先，利用避碰势函数和双曲正切函数构造了一种新的滑模面，解决了自主避障条件下微小卫星编队飞行有限时间协同控制问题。其次，利用队形重构和辅助系统解决了自主避障条件下微小卫星编队飞行饱和有限时间协同控制问题。最后，通过仿真验证了协同控制策略的有效性。