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Coordinated attitude control method of multi-space vehicle under input delay

A collaborative control and aircraft technology, applied in the direction of attitude control, control/regulation system, non-electric variable control, etc., can solve the problems of weak robustness and poor system performance, and achieve strong robustness, good performance, and fast attitude Effect of Angular Synchronization Convergence Speed

Active Publication Date: 2022-07-29
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

The advantage of the method based on nonlinear compensation control described in the literature is that the controller is easy to design, but the technical problem is that it is less robust to the input time delay, and the performance of the system is poor under a large time delay

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  • Coordinated attitude control method of multi-space vehicle under input delay
  • Coordinated attitude control method of multi-space vehicle under input delay
  • Coordinated attitude control method of multi-space vehicle under input delay

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Embodiment Construction

[0061] refer to Figure 1-6 . The specific steps of the multi-space vehicle attitude cooperative control method under the input delay of the present invention are as follows:

[0062] Step 1. Use fuzzy theory to construct the multi-aircraft attitude dynamics system as a fuzzy system composed of a series of fuzzy logics. Firstly, the following multi-aircraft attitude dynamics model is given:

[0063]

[0064] In the formula, J i represents the inertia matrix; q i (t) and q i0 (t) represent the vector and scalar parts of the pose quaternion, respectively; ω i (t) represents the attitude angular velocity; u i (t) represents the control input acting on the aircraft; τ(t) represents the input delay variable, and there are 0≤τ(t)≤τ and where τ and ρ are positive constants. In addition, equation (1) can also be transformed into the form of the following state space equation:

[0065]

[0066] In the formula,

[0067]

[0068] In order to facilitate the constructio...

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Abstract

The invention discloses a multi-space aircraft attitude cooperative control method under input time delay, which is used for solving the technical problem that the existing multi-space aircraft attitude cooperative control method has weak robustness to input time delay. The technical solution is to use fuzzy theory to construct a multi-aircraft attitude dynamics system into a fuzzy system composed of a series of fuzzy logics, design a distributed controller for the constructed fuzzy system, obtain a closed-loop system, and convert the closed-loop system equivalently , for the transformed equivalent system, the sufficient conditions to ensure the stability of the system are given by using the time-delay-dependent Lyapunov stability theory and the linear matrix inequality method, and the controller parameters are designed. The method of the invention has stronger robustness against the input delay, and can still ensure that the system has better performance under the larger delay.

Description

technical field [0001] The invention relates to a multi-space aircraft attitude cooperative control method, in particular to a multi-space aircraft attitude cooperative control method under input time delay. Background technique [0002] The document "Decentralized Consensus Control of A Rigid-Body SpacecraftFormation with Communication Delay, Journal of Guidance Control and Dynamics, 2016, 39(4), 838-851" discloses a multi-space vehicle attitude cooperative control method based on nonlinear compensation. This method studies the attitude synchronization consistency of multiple spacecraft, designs an input delay control algorithm, and feeds the nonlinear term in the system as a control compensation term to the control input. The advantage of the method based on nonlinear compensation control described in the literature is that the controller is easy to design, but the technical problem is that its robustness against input delay is weak, and the performance of the system is po...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 张卓李慧平严卫生
Owner NORTHWESTERN POLYTECHNICAL UNIV
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