Study-based guaranteed preset performance cluster flight distribution attitude tracking control method

A distributed controller and preset performance technology, which is applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the difficulty of estimating/measuring the inertial matrix parameters of spacecraft and the complicated design of distributed attitude controllers problems such as high degree of difficulty and limitation, to achieve the effect of improving robustness and adaptability

Active Publication Date: 2017-12-01
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

However, due to the fuel consumption of the spacecraft itself and the unknown uncertainty of the space environment, it is often difficult to accurately estimate/measure the inertial matrix parameters of the spacecraft
Although the unknown nonlinear

Method used

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  • Study-based guaranteed preset performance cluster flight distribution attitude tracking control method
  • Study-based guaranteed preset performance cluster flight distribution attitude tracking control method
  • Study-based guaranteed preset performance cluster flight distribution attitude tracking control method

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Embodiment

[0089] Parameter κ for all preset properties 1,i ,κ 2,i ,ρ 1,i∞ ,ρ 2,i∞ ,l 1,i ,l 2,i(i=1,...,4) are taken as:

[0090] 1,1,0.001,0.001,0.018,0.018

[0091] The inertia matrix parameters of the four slave spacecraft are

[0092]

[0093] The controller gain is: K e,i =diag{10,10,10,10},K s,i =diag{30,30,30,30},λ i Take it as the identity matrix. Evaluation - The number of hidden layer nodes in the execution layer is 10, and the initial values ​​of the weight parameters of the input layer and hidden layer, as well as the hidden layer and output layer are arbitrarily selected in the interval [-0.5,0.5], [-0.3,0.3] . The discount parameter factor is 0.95, and the evaluation-execution network training tolerance is 10 -7 , a single training cycle is 200 steps. The boundary of the control input is less than or equal to 2N.m, and the external disturbance torque added in the simulation process is:

[0094] [0.12sin(0.1t), 0.06sin(0.15t), 0.08sin(0.1t)] T

[0095] Ad...

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Abstract

The invention discloses a study-based guaranteed preset performance cluster flight distribution attitude tracking control method. For an attitude tracking distributed control problem in cluster flight, under the condition of not needing spacecraft inertia parameter information (i.e. inertia matrix parameter information), a feedback controller based on a spacecraft state is designed, thus the prior design of transient and steady information of a spacecraft attitude tracking error system is obtained. At the same time, based on an adaptive dynamic programming, with the help of input and output data of a spacecraft, the design of a robust compensation controller is realized, and so the robustness and adaptability of a control system of the spacecraft in a cluster are improved. According to the method, under the observation condition of no need of the online identification of system unknown dynamics inertia parameter and unknown external disturbance, the tracking control of a cluster flight attitude can be realized. Based on online model-free learning characteristics of an ADP, the robustness of a controlled system for unknown uncertainties is greatly improved.

Description

【Technical field】 [0001] The invention relates to a robust distributed control technology for spacecraft formation clusters, in particular to a learning-based distributed attitude tracking control method for cluster flight with preset performance. 【Background technique】 [0002] In recent decades, formation swarm technology consisting of multiple small, low-cost spacecraft has developed rapidly. Compared with a single large spacecraft, formation cluster flight has the advantages of high robustness, safety and reliability, and low cost. It is an effective and feasible method to carry out various space tasks, such as space science research, earth observation, space debris monitoring, etc. [0003] For attitude tracking control of formation flight, the existing control methods are distributed optimal control based on state Riccati equation, finite-time attitude cooperative control based on terminal sliding mode control, distributed attitude control based on backstepping method...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 罗建军魏才盛徐晨袁建平王明明朱战霞马卫华
Owner NORTHWESTERN POLYTECHNICAL UNIV
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