Anti-collision six-degree-of-freedom cooperative control method for spacecraft formation

Abstract

The invention discloses an anti-collision six-degree-of-freedom cooperative control method for spacecraft formation, and the method comprises the steps: S1, determining a complete mathematic model ofsix-degree-of-freedom movement of spacecraft master-slave formation, and converting a kinetic model of a relative position into a kinetic model related to the distance between spacecrafts; and S2, determining a spacecraft formation anti-collision six-degree-of-freedom preset performance function, performing error model conversion, and determining a six-degree-of-freedom cooperative robust controllaw of the sliding mode variable structure. According to the invention, the sliding mode variable structure control technology and the preset performance control are combined, the controller design utilizes the advantages of the preset performance function, the transient state performance and the steady state performance of the system are both considered, and the anti-collision requirement of thesystem is met; through sliding mode variable structure control, it is ensured that the system has certain robust interference suppression performance under the action of external disturbance; six-degree-of-freedom high-precision cooperative control of the relative attitude and the relative position of the spacecraft considering external interference and anti-collision constraints is realized.

Description

technical field [0001] The invention belongs to the technical field of robust control of a nonlinear control system, and relates to a six-degree-of-freedom collaborative control method for a spacecraft formation. Background technique [0002] Spacecraft formation flight has become a research hotspot in the field of aerospace control in recent years because of its flexible structure, powerful functions, high reliability, long life cycle and low launch risk. In the formation flight of spacecraft, multiple spacecraft form a specific formation configuration, and through inter-satellite information exchange, interaction, and cooperative work, they complete space tasks in a manner similar to a virtual single spacecraft. When the entire formation system performs some complex formation tasks, such as deep space interferometer, synthetic aperture radar, etc., each spacecraft in the formation is required not only to meet the orbit and attitude requirements (absolute desired attitude, ...

AI Technical Summary

Problems solved by technology

[0005] At present, considering the problem of spacecraft formation configuration control under the constraints of external disturbance and collision avoidance, most of them only consider relative position control, and the cooperative control problem for six degrees of freedom is almost not considered in the controller design process Transient and steady-state performance of the system

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