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Backstepping sliding mode control method for formation flying spacecraft

A technology of formation flying and backstepping sliding mode, which is applied in the direction of attitude control, adaptive control, general control system, etc., can solve the problem of limited time coordination control of spacecraft that is difficult to expand formation flight

Active Publication Date: 2020-06-09
XIANGTAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these cooperative controllers are only asymptotically stable (Wang and Xie, 2011; Thunberg et al., 2014)
[0006] Most previous research works are difficult to extend to the situation of limited-time coordinated control of formation flying spacecraft, especially when there is no exchange of control signals between adjacent vehicles

Method used

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  • Backstepping sliding mode control method for formation flying spacecraft
  • Backstepping sliding mode control method for formation flying spacecraft
  • Backstepping sliding mode control method for formation flying spacecraft

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Experimental program
Comparison scheme
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Embodiment 1

[0216] Embodiment 1 is the backstepping sliding mode control method for formation flight spacecraft for bounded external disturbances

[0217] (1) Establish the attitude dynamic model of formation flight spacecraft

[0218] Since the spacecraft is modeled as a rigid body, it is described by a rotation matrix:

[0219] R i is the rotation matrix that transforms the body coordinate system into the inertial coordinate system, ω i ∈R 3×1 is the angular velocity in the body coordinate system, u i ∈R 3×1 and d i ∈R 3×1 are the control torque and external disturbance torque, respectively, J i ∈ R 3×3 is the inertia matrix, and the dynamic equation describing the attitude of the spacecraft is as follows:

[0220]

[0221]

[0222]

[0223] (2) Introduce spacecraft attitude error

[0224] R d ∈SO(3) and ω d ∈R 3×1 is the reference attitude and angular velocity in the reference coordinate system, and are the rotation matrix error and the angular velocity error,...

Embodiment 2

[0351] Embodiment 2 For external disturbances with unknown boundaries, the backstepping sliding mode control method of formation flying spacecraft

[0352] (1) Establish the attitude dynamic model of formation flight spacecraft

[0353] Since the spacecraft is modeled as a rigid body, it is described by a rotation matrix:

[0354] R i is the rotation matrix that transforms the body coordinate system into the inertial coordinate system, ω i ∈ R 3×1 is the angular velocity in the body coordinate system, u i ∈ R 3×1 and d i ∈ R 3×1 are the control torque and external disturbance torque, respectively, J i ∈ R 3×3 is the inertia matrix, and the dynamic equation describing the attitude of the spacecraft is as follows:

[0355]

[0356]

[0357]

[0358] (2) Introduce spacecraft attitude error

[0359] R d ∈SO(3) and ω d ∈ R 3×1 is the reference attitude and angular velocity in the reference coordinate system, and are the rotation matrix error and the angula...

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Abstract

The invention relates to a formation flying spacecraft back-stepping sliding-mode control method, and belongs to the technical field of spacecraft posture adjustment. By the back-stepping sliding-modemethod, two distributed robust consistency tracking controllers are designed. The first robust controller can compensate known bounded external interface, is continuous and free from buffeting. In order to meet the use requirements of self-adaptive control, the second robust finite time controller does not need the upper bound of the known external interface. As the two controllers are designed based on a rotation matrix, attitude represented by the rotation matrix has global unique attribute, and the shortcoming of system unwinding can be overcome. By the aid of Lyapunov theorem, a whole closed-loop system is stable in finite time, simulation experiments prove that absolute attitude can be tracked, and formation member attitude consistency can be kept.

Description

technical field [0001] The invention belongs to the technical field of spacecraft attitude adjustment, and in particular relates to a backstepping sliding mode control method for formation flying spacecraft. Background technique [0002] Spacecraft formation flying (Spacecraft formation flying, SFF) can be applied to many space missions. By distributing payloads on a group of spacecraft, the formation spacecraft has the advantages of low launch cost, high flexibility, and high success rate. (Kristiansen and Nicklasson, 2009). [0003] However, due to link failure and link reconfiguration, there are problems such as communication delay and switching topology during communication link information exchange, which will deteriorate the control performance of formation aircraft. (Sun et al., 2011; Zhou and Hu, 2013) based on Lyapunov functions, a finite-time controller was given by backstepping and adding power integral terms. (Sun et al., 2011) designed a six-degree-of-freedom ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/08
Inventor 李鹏周彦兰永红盘宏斌刘勇向礼丹赵昆仑
Owner XIANGTAN UNIV
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