This paper studies the leader-following attitude coordination problems of multiple spacecraft in the presence of inertia parameter uncertainties. To achieve attitude coordination in the situation that even the leader&...This paper studies the leader-following attitude coordination problems of multiple spacecraft in the presence of inertia parameter uncertainties. To achieve attitude coordination in the situation that even the leader's attitude is only applicable to a part of the following spacecraft, a nonlinear attitude observer is proposed to obtain an accurate estimation of the leader's attitude and angular velocity for all the followers. In addition, a distributed control scheme based on noncertainty equivalence principle is presented for multiple spacecraft' attitude synchronization. With a dynamic scaling, attitude consensus can be achieved asymptotically without any information of the bounds of the uncertain inertia parameters. Furthermore, once the estimations of inertia parameters reach their ideal values, the estimation process will stop and the ideal value of inertia parameter will be held. This is a special advantage of parameter estimation method based on non-certainty equivalence. Numerical simulations are presented to demonstrate that the proposed non-certainty equivalence-based method requires smaller control toque and converges faster compared with the certainty equivalence-based method.展开更多
This paper investigates the problem of Spacecraft Formation-Containment Flying Control(SFCFC)when the desired translational velocity is time-varying.In SFCFC problem,there are multiple leader spacecraft and multiple f...This paper investigates the problem of Spacecraft Formation-Containment Flying Control(SFCFC)when the desired translational velocity is time-varying.In SFCFC problem,there are multiple leader spacecraft and multiple follower spacecraft and SFCFC can be divided into leader spacecraft’s formation control and follower spacecraft’s containment control.First,under the condition that only a part of leader spacecraft can have access to the desired time-varying translational velocity,a velocity estimator is designed for each leader spacecraft.Secondly,based on the estimated translational velocity,a distributed formation control algorithm is designed for leader spacecraft to achieve the desired formation and move with the desired translational velocity simultaneously.Then,to ensure all follower spacecraft converge to the convex hull formed by the leader spacecraft,a distributed containment control algorithm is designed for follower spacecraft.Moreover,to reduce the dependence of the designed control algorithms on the graph information and increase system robustness,the control gains are changing adaptively and the parametric uncertainties are handled,respectively.Finally,simulation results are provided to illustrate the effectiveness of the theoretical results.展开更多
基金supported by the National Natural Science Foundation of China(Nos.11402200,11502203)
文摘This paper studies the leader-following attitude coordination problems of multiple spacecraft in the presence of inertia parameter uncertainties. To achieve attitude coordination in the situation that even the leader's attitude is only applicable to a part of the following spacecraft, a nonlinear attitude observer is proposed to obtain an accurate estimation of the leader's attitude and angular velocity for all the followers. In addition, a distributed control scheme based on noncertainty equivalence principle is presented for multiple spacecraft' attitude synchronization. With a dynamic scaling, attitude consensus can be achieved asymptotically without any information of the bounds of the uncertain inertia parameters. Furthermore, once the estimations of inertia parameters reach their ideal values, the estimation process will stop and the ideal value of inertia parameter will be held. This is a special advantage of parameter estimation method based on non-certainty equivalence. Numerical simulations are presented to demonstrate that the proposed non-certainty equivalence-based method requires smaller control toque and converges faster compared with the certainty equivalence-based method.
基金supported by the National Natural Science Foundation of China(Nos.61876050,61673135,61603114).
文摘This paper investigates the problem of Spacecraft Formation-Containment Flying Control(SFCFC)when the desired translational velocity is time-varying.In SFCFC problem,there are multiple leader spacecraft and multiple follower spacecraft and SFCFC can be divided into leader spacecraft’s formation control and follower spacecraft’s containment control.First,under the condition that only a part of leader spacecraft can have access to the desired time-varying translational velocity,a velocity estimator is designed for each leader spacecraft.Secondly,based on the estimated translational velocity,a distributed formation control algorithm is designed for leader spacecraft to achieve the desired formation and move with the desired translational velocity simultaneously.Then,to ensure all follower spacecraft converge to the convex hull formed by the leader spacecraft,a distributed containment control algorithm is designed for follower spacecraft.Moreover,to reduce the dependence of the designed control algorithms on the graph information and increase system robustness,the control gains are changing adaptively and the parametric uncertainties are handled,respectively.Finally,simulation results are provided to illustrate the effectiveness of the theoretical results.
