Spacecraft attitude cooperative control method based on distributed high-order sliding mode estimator

Abstract

The invention discloses a spacecraft attitude cooperation control method based on a distributed high-order sliding mode estimator. The method is characterized by using an attitude quaternion to establish an error tracking model of lead spacecrafts and following spacecrafts; using a graph theory to establish a communication topology satisfying a directed spanning tree condition; and under a constraint that only parts of the following spacecrafts obtain the attitude quaternion of the lead spacecrafts, based on a consistency algorithm, distributively observing the attitude quaternion of the leadspacecrafts by all the following spacecrafts, and through using a high-order sliding mode algorithm, distributively estimating an angular velocity of the lead spacecrafts by all the following spacecrafts. The influence of model uncertainty is avoided successfully, and estimation accuracy is high. Analysis of a cooperative error model of a multi-spacecraft system is avoided and a design process ofthe control system of the multi-spacecraft system is simplified. Through designing an attitude cooperation sliding mode controller, the influence of the model uncertainty and an interference on the multi-spacecraft system is effectively suppressed, and the high-precision cooperation tracking of an attitude is realized.

Description

technical field [0001] The invention relates to the technical field of spacecraft control, in particular to a spacecraft attitude cooperative control method based on a distributed high-order sliding mode estimator. Background technique [0002] As space mission constraints become more stringent and spacecraft structures become more complex, one solution is to build larger spacecraft to carry more payloads, known as centralized spacecraft. Because the centralized spacecraft integrates all functional units, the volume and weight of the centralized spacecraft are large, and the launch cost is relatively high. Moreover, the structure of the centralized spacecraft is complex and the units are coupled to each other. Therefore, the centralized The traditional spacecraft has problems such as high probability of failure and difficult maintenance. [0003] Based on these problems of centralized spacecraft, the concept of distributed multi-spacecraft system is proposed. The distribut...

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Problems solved by technology

[0005] The distributed multi-spacecraft system will rely on the information interaction with adjacent spacecraft when performing tasks, which will cause the coupling problem of mutual influence between different spacecraft, coupled with the nonlinearity of the dynamic model of the spacecraft, make the distributed The stability analysis of spacecraft systems is very difficult, and distributed multi-spacecraft systems are usually composed of many small and light-weight small spacecraft, which are more susceptible to space interference, and also make the attitudes of each spacecraft consistent with high precision It becomes very difficult to control

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