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, as follows: 1. Establish a spacecraft attitude dynamics model, and obtain the spacecraft attitude dynamics model in Lagrangian form through transformation; Then get the spacecraft attitude dynamics model in the state space; 2. Adopt random communication protocol between multiple spacecraft; model the random communication protocol as Markov jump model; 3. Use integral sliding mode control and robust model The hybrid control method combined with predictive control can obtain the control amount of each spacecraft. It solves the problems of communication defects and insufficient anti-interference in the multi-spacecraft cooperative control in the prior art. The present invention can make full use of the advantages of integral sliding mode control to effectively suppress matching interference, and can deal with constraints and non-matching in combination with robust model predictive control. Based on the characteristics of interference, the cooperative control of multiple spacecraft is carried out.

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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