Input saturation self-adaptive gesture collaborative tracking control method

Abstract

The invention relates to an input saturation self-adaptive gesture collaborative tracking control method and belongs to the technical field of multi-spacecraft formation flight. The method gains the advantages that a bipower algorithm enables a formation system to quickly, stably and dynamically adjust a function optimization control gain to further reduce the saturation incidence, a saturation function controls input saturation amplitude limiting, and an adaptive law suppresses interference and compensation inertia time-varying uncertainty. The invention provides the input saturation self-adaptive gesture collaborative tracking control method which enables spacecraft formation members to quickly complete gesture collaborative tracking. According to the method, influences of input saturation, interference, inertia time varying and the like are comprehensively considered, an input saturation collaborative tracking control strategy is improved, a collaborative tracking error system can be rapidly stabilized, and the robustness and practicability of a control system are further improved.

Description

technical field [0001] The invention belongs to the technical field of multi-spacecraft formation flight, in particular to an input saturation adaptive attitude cooperative tracking control method. Background technique [0002] With the development of society, space missions such as earth observation, on-orbit maintenance, and deep space exploration are booming, and the system scale of a single spacecraft is becoming larger and larger. For some load systems that require long baselines and multi-point synchronization work The task of ability cannot be completed at all. Multiple spacecraft working together in formation can not only reduce the cost of the task, but also have stronger robustness, and can even complete tasks that a single spacecraft could not complete in the past. When performing space missions, multiple spacecraft can cooperate to achieve functional reorganization, not just the superposition of the functions of a single spacecraft, and more optimized control ef...

AI Technical Summary

Problems solved by technology

Due to the complex space environment in which the spacecraft is located, it will be subject to external interference such as gravity gradients and solar radiation. At the same time, due to the influence of fuel consumption and the rotation of solar panels, the inertia of the spacecraft is constantly changing, and the degree of change is unknown. In addition, , the actuator torque mechanism of the spacecraft is constrained by its own physical characteristics, its output torque cannot be any required control force, and there is a saturation limit of the actuator, that is, the spacecraft input saturation constraint

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