多星姿态协同中的几何鲁棒控制

doi:10.12305/j.issn.1001-506X.2024.09.24

Abstract

Abstract:

Aiming at the attitude cooperative control problem of multi-spacecraft system, the attitude estimation of the spacecraft is estimated by invariant extended Kalman filter (InEKF), and the attitude estimation of the spacecraft is made independent of the transfer matrix. Then, the multi-spacecraft special orthogonal group (SO(3)) attitude model is constructed by combining the undirected communication topology, and the attitude coordination error on SO(3) is deduced. Among them, an attitude coordination control algorithm based on the consistency theory is proposed based on the special orthogonal group SO(3). The radial basis function neural network is used to fit and compensate virtual disturbances. The proposed algorithm considers spatial disturbances to ensure that the collaborative controller is applicable to the entire attitude space. Multi-satellite attitude collaboration, tracking desired attitude, and collaboration under the constraints of actuator capabilities are realized. The system is analyzed based on LaSalle invariant set theory, proving that the system has global asymptotic stability. Finally, the effectiveness of the proposed attitude collaborative control algorithm is verified by using a six-satellite spacecraft system.

Key words: multiple spacecraft, special orthogonal group (SO(3)), coordinated control, radial basis function (RBF), invariant extended Kalman filter (InEKF)

CLC Number:

V448.2

Yang HU, Xuechao LIU, Huayi LI, Qian CAO. Geometrically robust control in multi-satellite attitude coordination[J]. Systems Engineering and Electronics, 2024, 46(9): 3118-3127.

Figures/Tables 15

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航天器序号	初始姿态/(°)(偏航, 俯仰, 滚转)	初始角速度/(rad/s)
1	(10, 6, 0)	(0.12, -0.08, -0.2)
2	(30, 20, 15)	(0.1, 0.08, 0.2)
3	(-8, 10, -5)	(-0.05, -0.09, -0.1)
4	(-10, 0, 4)	(-0.1, 0.08, 0.1)
5	(0, -3, 2)	(0.1, 0.09, 0.08)
6	(-10, 0, 4)	(-0.06, -0.07, 0.12)

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Geometrically robust control in multi-satellite attitude coordination

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