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Multi-space aircraft attitude cooperation control method under input time delay

A collaborative control, aircraft technology, applied in attitude control and other directions, can solve problems such as inability to guarantee system stability, strong limitations of aircraft topology, and weak input delay robustness.

Inactive Publication Date: 2019-06-18
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

The advantage of the nonlinear compensation control method is that the controller is easy to design, but its disadvantages are also very obvious, mainly including: 1) the controller structure is relatively complex, which will increase the burden on the control system; 2) the robustness against input delay is weak , the stability of the system may not even be guaranteed under a large time delay; 3) The topological structure between aircraft is highly restrictive, which in turn increases the conservatism of the results

Method used

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  • Multi-space aircraft attitude cooperation control method under input time delay
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Embodiment Construction

[0070] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0071] Step 1: Use T–S fuzzy theory to construct the multi-vehicle attitude dynamic system as a fuzzy system composed of a series of fuzzy logics. Firstly, the following multi-aircraft attitude dynamic model is given:

[0072]

[0073] In the formula, J i Indicates the inertia matrix; q i (t) and q i0 (t) represent the vector and scalar parts of the attitude quaternion, respectively; ω i (t) represents the attitude angular velocity; u i (t) represents the control input acting on the aircraft; τ(t) represents the input delay variable, and there are 0≤τ(t)≤τ and Where τ and ρ are positive constants. In addition, formula (1) can also be transformed into the form of the following state space equation:

[0074]

[0075] In the formula,

[0076]

[0077] In order to facilitate the construction of the fuzzy system, the following variables are defined: ...

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Abstract

The invention relates to a multi-space aircraft attitude cooperation control method under input time delay. A multi-space aircraft distributed attitude cooperation control method based on a fuzzy theory is provided and input time delay existing in a controller is considered. A T-S fuzzy theory is used to construct a multi-aircraft attitude dynamics system into a fuzzy system composed of a series of fuzzy logics. A distributed controller is designed for the constructed fuzzy system, a closed-loop system is acquired, and equivalent conversion is performed in the closed-loop system. For the converted equivalent system, time delay depends on a Lyapunov stability theory so that sufficient conditions used for ensuring the stability of the system are given, and a linear matrix inequality method is used to design controller parameters. Compared with a traditional nonlinear compensation control method, the control method based on the fuzzy theory which is designed in the invention has a simplestructure, has high robustness for the input time delay, and has a less conservative property.

Description

technical field [0001] The invention belongs to a multi-space aircraft attitude cooperative control method, and relates to a multi-space aircraft distributed attitude cooperative control method based on fuzzy theory under input time delay. Background technique [0002] With the continuous advancement of science and technology, human beings' ability and strategic needs for space development and utilization are increasing. Space vehicle is just a kind of intelligent robot developed and utilized by human beings in space, which has particularly important research value and strategic significance. The space vehicle formation system is composed of a group of space-distributed and flying around each other. The member aircraft in the formation work together on the basis of inter-satellite information exchange to form a virtual aircraft to complete space tasks that traditional single aircraft cannot complete. . Compared with the traditional single spacecraft, the multi-vehicle form...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 张卓李慧平严卫生
Owner NORTHWESTERN POLYTECHNICAL UNIV
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