Spacecraft formation capture and collision avoidance control method based on disturbance observer

Abstract

The invention discloses a spacecraft formation capturing and collision avoidance control method based on a disturbance observer, particularly relates to a multi-spacecraft cooperative collision avoidance control method for capturing a space non-cooperative target, and belongs to the technical research field of spacecraft formation cooperative control. The method comprises the following steps: firstly, establishing an attitude-orbit coupled relative motion model of a capture spacecraft relative to a target; secondly, aiming at the problem of possible collision inside the spacecraft and between the spacecraft and the target in the capture process, describing the shapes of the space non-cooperative target and the capture spacecraft by using a super-quadric surface, and establishing a composite artificial potential field; meanwhile, a nonlinear interference observer is designed for estimating the appearing composite interference, and the composite interference is counteracted in the design of a control law; and finally, a sliding mode surface is combined with an artificial potential field, and a safe and robust control law is designed.

Description

technical field [0001] The invention belongs to the research field of cooperative control technology of spacecraft formation, and in particular relates to a multi-spacecraft cooperative collision avoidance control method for capturing non-cooperative targets in space. Background technique [0002] The increase of space failure targets and space debris has led to the increasingly tight orbital resources of earth satellites, and the capture of low-speed rolling space non-cooperative targets has great research value and application prospects. Due to the failure of the non-cooperative target itself and the loss of the ability to adjust the attitude track, it is uncontrollable, so the target is often in a state of free roll due to various perturbations and disturbances. Compared with the traditional integrated large-scale spacecraft system, which has large volume, poor flexibility, and high cost, the use of small spacecraft formations or clusters to cooperatively capture non-coop...

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Problems solved by technology

In addition, the uncontrolled rollover of the target and the unknown internal parameters of the model also greatly increase the risk of collision between the spacecraft and the target and the spacecraft members, which makes it more difficult to design a safe and reliable control law for the spacecraft members

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