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基于势函数法研究具有模型不确定性的编队飞行卫星避免碰撞的自适应协同控制。势函数法的思想为设计碰撞区域势函数值较大,所设计的控制律使得系统势函数具有减小的趋势,从而实现避免碰撞的编队飞行任务。首先,在无外部参考轨迹的情况下,通过引入避免碰撞势函数,提出一种自适应协同控制器,编队卫星最终实现速度一致和避免碰撞。进一步,考虑已知外部参考轨迹的情形,基于新的势函数方法,设计新的自适应协同控制器,能够同时实现避免碰撞、速度一致、卫星跟踪参考轨迹的目的。对于所提出的两种控制方法,均通过合理地应用Lyapunov稳定性理论分析了闭环系统的稳定性。仿真结果表明了所设计控制方法的有效性。
Study on Collision Avoidance Adaptive Cooperative Control of Formation Flying Satellites with Model Uncertainty Based on Potential Function Method. The idea of the potential function method is that the potential value of the collision area is large, and the designed control law makes the system potential function have a decreasing trend, so as to realize the formation flying mission of collision avoidance. Firstly, an adaptive cooperative controller is proposed by introducing the collision avoidance potential function without external reference trajectory. The resulting formation satellites finally achieve the same speed and avoid collision. Furthermore, considering the case of known external reference trajectories, a new adaptive cooperative controller is designed based on the new potential function method to achieve the purpose of collision avoidance, speed coincidence and satellite tracking reference trajectory simultaneously. For the two proposed control methods, the stability of the closed-loop system is analyzed through the rational application of Lyapunov stability theory. Simulation results show the effectiveness of the proposed control method.