The invention relates to a spacecraft anti-interference attitude cooperative control method based on event-triggered communication. The method comprises the following steps: firstly, for a group of rigid spacecrafts which comprises a pilot spacecraft and a following spacecraft, describing an attitude kinematics equation and a kinetic equation of the following spacecraft by using modified Rodrige parameters (MRPs), and modeling unknown bounded interference of the spacecraft, the model being used for describing a plurality of actual interferences; secondly, designing a disturbance observer, estimating disturbance, and enabling a disturbance estimation error index to converge to zero; secondly, establishing a filter and introducing an event triggering mechanism to describe discontinuous communication between spacecrafts; and finally, designing a controller based on a backstepping method in combination with a disturbance observer and a filter to ensure that all closed-loop signals are consistent and bounded, and the attitude railing error can be converged into a residual set smaller than a predetermined threshold. According to the method, attitude cooperative railing of multiple spacecrafts under the condition of no continuous communication is ensured, and unknown interference can be compensated.
本发明涉及一种基于事件触发通信的航天器抗干扰姿态协同控制方法,包括以下步骤:首先,针对一组刚性航天器包括领航航天器和跟随航天器,用修正罗德里格参数(MRPs)描述跟随航天器姿态运动学方程和动力学方程,对航天器的未知有界干扰进行建模,该模型用于描述多种实际干扰;其次,设计干扰观测器,对干扰进行估计,使得干扰估计误差指数收敛到零;然后,建立滤波器并引入事件触发机制,描述航天器间的不连续通信;最后,结合干扰观测器和滤波器,基于反步法设计控制器,保证所有闭环信号都一致有界,且姿态跟踪误差能够收敛到小于预定阈值的残集内。该方法保证了多航天器在无连续通信的情况下实现姿态协同跟踪,且可补偿未知干扰。
Spacecraft anti-interference attitude cooperative control method based on event-triggered communication
一种基于事件触发通信的航天器抗干扰姿态协同控制方法
2020-06-16
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |
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