Multi-spacecraft cooperative control method based on integral sliding mode and model predictive control

Abstract

The invention discloses a multi-spacecraft cooperative control method based on integral sliding mode and model predictive control. The method comprises the following steps: 1, establishing a spacecraft attitude dynamics model, obtaining a spacecraft attitude dynamics model of Lagrangian form by transformation, and further obtaining a spacecraft attitude dynamics model in the state space; 2, adopting a random communication protocol between multiple spacecrafts, and modeling the random communication protocol as a Markov jump model; and 3, using a hybrid control method combining integral slidingmode control and robust model prediction control to obtain the amount of control for each spacecraft, thereby solving the problem of communication defects and insufficient anti-interference in the multi-spacecraft cooperative control in the prior art. The multi-spacecraft cooperative control method based on integral sliding mode and model predictive control can perform cooperative control on multiple spacecrafts by fully utilizing the advantage of the integral sliding mode control to effectively suppress the matching interference, and combining the characteristic of the robust model predictivecontrol to deal with the constraint and non-matching interference.

Description

technical field [0001] The invention belongs to the technical field of spacecraft control, in particular to a multi-spacecraft cooperative control method based on integral sliding mode and model predictive control. Background technique [0002] Multi-spacecraft cooperative control refers to a new working mode in which multiple spacecraft cooperate to achieve a common goal according to specific mission requirements. The multi-spacecraft system can use mutual information transmission to achieve the purpose of cooperative work of various spacecraft, so as to complete the space exploration goal that is difficult to achieve by a traditional single spacecraft. In recent years, multi-spacecraft has played a vital role in the fields of space exploration and military defense. As one of the basic operations of multi-spacecraft formation on-orbit operation, attitude cooperative control is also a necessary prerequisite for mission execution. Its research significance and engineering va...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-spacecraft cooperative control method based on integral sliding mode and model predictive control, which solves the problems of communication defects and insufficient anti-interference in the multi-spacecraft cooperative control in the prior art, and the present invention can fully Using the advantages of integral sliding mode control to effectively suppress matching interference, combined with the characteristics of robust model predictive control that can deal with constraints and non-matching interference, collaborative control of multiple spacecraft

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