SE (3)-based spacecraft adaptive sliding mode saturation formation control method and system

Abstract

The invention discloses a spacecraft adaptive sliding mode saturation formation control method and system based on SE (3), and belongs to the technical field of spacecraft control. The method comprises the following main processes: modeling a system model by utilizing SE (3), and describing the attitude and orbit of a spacecraft; performing error design based on attitude dynamics to obtain a configuration error function; designing a self-adaptive sliding mode saturation controller based on kinematics and dynamics models of a rigid body dynamics system of SE (3) in combination with a configuration error function; a periodic event triggering strategy is provided, and the control rate of the spacecraft is periodically updated. According to the method, event trigger control and periodic sampling data control are combined through the self-adaptive sliding mode saturation controller, the Zeno phenomenon is avoided so as to reduce resource consumption, the unified lower bound of interaction time is deduced, high-precision control of the spacecraft during on-orbit task execution is guaranteed, and the method has the advantages of being simple in structure and convenient to operate. And meanwhile, the formation collision phenomenon is also avoided.

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