具有随机多跳时变时延的多航天器协同编队姿态一致性
Attitude consensus of multi-spacecraft cooperative formation with stochastic multi-hop time-varying delay
摘要点击 73  全文点击 89  投稿时间:2017-12-29  修订日期:2018-06-26
查看全文  查看/发表评论  下载PDF阅读器
DOI编号  10.7641/CTA.2018.70969
  2018,35(10):1415-1421
中文关键词  多航天器协同编队  随机多跳时变时延  姿态一致性  线性矩阵不等式
英文关键词  multi-spacecraft cooperative formation  stochastic multi-hop time-varying delay  attitude consensus  linear matrix inequality
基金项目  国家自然科学基金项目(61773387, 61573365), 中国博士后科学基金项目(2017T100770,2016M590971)资助.
学科分类代码  510.8060
作者单位E-mail
蔡光斌 西北工业大学 cgb0712@163.com 
闫杰 西北工业大学  
赵玉山 火箭军工程大学  
胡昌华 火箭军工程大学  
中文摘要
      针对存在随机多跳时变时延的多航天器协同编队的姿态一致性问题, 本文设计了可消除随机多跳时变时延影响并能够实现多航天器协同编队姿态角速度一致及姿态角有效跟踪的静态控制器. 首先基于有向图论推导出领航者-跟随者误差系统的动态方程, 然后通过构造合适的Lyapunov函数将误差系统调节器问题转化为了线性矩阵不等式解的存在性问题, 其次通过求解线性矩阵不等式完成了协同编队姿态控制系统的静态控制器设计. 理论分析表明, 所设计的控制器能够有效消除随机多跳时变时延影响, 实现了多航天器协同编队的姿态一致性. 数值仿真验证了所提方法的正确性和有效性.
英文摘要
      Aiming at the attitude consensus of multi-spacecraft cooperative formation with stochastic multi-hop time-varying delay, a static controller that eliminates the influence of the time-varying delay of stochastic multi-hop time-varying delay and realizes the consensus of attitude angular velocity of multi-spacecraft cooperative formation cooperative formation as well as the effective tracking of attitude angular is designed in this paper. Firstly, based on the theory of digraph theory, dynamic equations of the leader-follower error system is deduced. Secondly, by constructing a suitable Lyapunov function, the regulator problem of the error system is transformed into the existence of the solution to the linear matrix inequalities. Finally, the static controller design of cooperative formation attitude control system is completed by solving linear matrix inequality. Theoretical analysis shows that the designed controller can effectively eliminate the effect of time-varying delay of random multi-hop and realize the attitude consensus of multi-spacecraft cooperative formation. The numerical simulation verifies the correctness and effectiveness of the proposed method.