Spacecraft cluster attitude and orbit cooperative control method under communication resource limited situation

Abstract

The present application relates to a kind of communication resource limited situation under spacecraft cluster posture orbit collaborative control method, for communication resource limited situation under spacecraft cluster high-precision posture orbit collaborative anti-jamming control problem, first, for the rigid spacecraft cluster system containing follower spacecraft, establish the follower spacecraft posture orbit coupling model considering thruster installation error;Second, design event trigger mechanism, to realize the discontinuous communication between spacecraft controller and actuator, reduce communication resource loss;Third, considering that factors such as fuel consumption will lead to the inertia and mass of spacecraft exist uncertainty, design adaptive parameter estimation law, obtain the estimated value of spacecraft inertia and mass parameters;Finally, based on event trigger mechanism and parameter estimation value, design spacecraft posture orbit collaborative controller, ensure that all follower spacecraft form predetermined orbit configuration, and reach attitude consistency.The method provided by the present application has the characteristics of high collaborative control precision and low communication energy consumption.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of spacecraft control, and particularly relates to a spacecraft cluster attitude and orbit cooperative control method under the condition of limited communication resources, and mainly applies to distributed attitude and orbit cooperative control of a spacecraft cluster under the condition of limited communication resources. BACKGROUND

[0002] Space missions such as infrared interferometry and gravitational wave detection not only require the attitudes of spacecrafts in the cluster to reach a specific angle, but also require all spacecrafts to reach a specific orbit position to form a predetermined formation configuration. Increasingly complex space missions have put forward urgent demands for spacecraft cluster attitude and orbit cooperative control methods.

[0003] In particular, to cope with the demand for complex space sensing tasks and adapt to the situation of game confrontation, the communication topology of the cluster changes from static to dynamic, which hinders the interaction of attitudes and orbit information between spacecrafts, making it difficult to achieve attitude and orbit cooperation. Inertia and mass uncertainty caused by factors such as fuel consumption can also lead to a decrease in the accuracy of spacecraft cluster attitude and orbit cooperative control. In addition, the limited on-board communication resources such as communication bandwidth and communication power make it difficult to support continuous signal transmission between controllers and actuators, which will also seriously affect the accuracy of spacecraft cluster attitude and orbit cooperative control. Therefore, in view of the high-precision attitude and orbit cooperative control requirements of the spacecraft cluster, it is crucial to study the spacecraft cluster attitude and orbit anti-interference cooperative control method in view of the three problems of limited communication resources, inertia and mass uncertainty, and dynamic changes in communication topology.

[0004] Currently, research on spacecraft cluster attitude and orbit cooperative control often does not consider the situation of limited communication resources of spacecrafts. Chinese patent application CN202211435953.1 proposes a spacecraft formation attitude and orbit coupling modeling and simulation method, establishes a spacecraft attitude and orbit coupling model based on dual quaternions, and realizes spacecraft formation flight, but does not consider the possibility of limited communication resources; Chinese patent application CN202310101472.5 proposes an adaptive satellite attitude and orbit control method based on reinforcement learning, which considers applying reinforcement learning algorithm to satellite attitude and orbit control, which has certain innovation, but the running of the reinforcement learning algorithm and the transmission of its results will occupy a large amount of on-board embedded resources, which is not suitable for spacecraft clusters with limited on-board hardware capabilities; Chinese patent application CN202210971663.2 proposes a preset time distributed spacecraft formation attitude and orbit coupling control method, which realizes spacecraft formation flight within a user-set time, but ignores the constraints of on-board equipment capabilities, so the spacecraft may not be able to achieve the expected formation configuration within the set time.

[0005] In summary, the existing method lacks high-precision attitude and orbit cooperative anti-jamming control method considering the communication resource limited problem in the case of spacecraft cluster communication topology dynamic change, so it is urgent to study the spacecraft cluster distributed attitude and orbit cooperative control method under the condition of communication resource limited. SUMMARY

[0006] In view of the spacecraft cluster attitude and orbit cooperative anti-jamming control problem under the condition of communication resource limited, the existing technology is overcome, and the spacecraft attitude and orbit cooperative anti-jamming control method based on event triggered communication is provided, which can estimate the inertia and mass parameters of the follower spacecraft, so that all follower spacecraft can track the expected attitude signal and reach a specific orbit position, which is beneficial to improve the robustness and accuracy in the spacecraft cluster attitude and orbit cooperative control process under dynamic topology.

[0007] In order to achieve the above purpose, the technical scheme is adopted as follows:

[0008] A spacecraft cluster attitude and orbit cooperative control method under the condition of communication resource limited, comprising the following steps:

[0009] Firstly, for the rigid spacecraft cluster system containing follower spacecraft, the attitude and orbit model of the spacecraft is established based on the attitude and orbit model of the spacecraft; the dynamic communication topology structure of the spacecraft cluster system is described by using algebraic graph theory;

[0010] Secondly, for the follower spacecraft attitude and orbit coupling model established in the first step, an event triggering mechanism is designed to describe the discontinuous communication between the follower spacecraft controller and the actuator;

[0011] Thirdly, for the follower spacecraft attitude and orbit coupling model established in the first step, an adaptive parameter estimation law is designed to obtain the estimated value of the inertia and mass of the follower spacecraft;

[0012] Fourthly, based on the event triggering mechanism designed in the second step and the inertia and mass estimation value obtained in the third step, a spacecraft attitude and orbit cooperative anti-jamming controller is designed to ensure that all follower spacecraft form a predetermined orbit configuration and reach the same attitude, and complete the high-precision attitude and orbit cooperative control method of spacecraft cluster under the condition of communication resource limited.

[0013] Further, in the first step, the spacecraft cluster system composed of n follower spacecraft is considered,

[0014] Firstly, the following notations are defined: represents the set of r real vectors; represents the set of r x r real matrices; diag{·} represents a diagonal matrix; sgn(·) represents a standard sign function; I e is an e x e identity matrix; m belongs to M represents that element m belongs to set M; denotes that all elements of the set M are elements of the set N; || · || denotes the Euclidean norm of a vector; denotes the first order derivative of the vector a with respect to time; denotes the second order derivative of the vector a with respect to time; T denotes the transpose of a matrix or vector A; -1 denotes the inverse of a matrix A; for a vector for x × denotes the following skew-symmetric matrix:

[0015]

[0016] The operator L is defined as:

[0017]

[0018] The attitude model of the follower spacecraft i is expressed in modified Rodrigues parameters as:

[0019]

[0020]

[0021] wherein is the modified Rodrigues parameter of the follower spacecraft i, used to represent the orientation of the body coordinate system of the follower spacecraft i with respect to the inertial coordinate system; denotes the angular velocity of the body coordinate system of the follower spacecraft i with respect to the inertial coordinate system; is the inertia matrix of the follower spacecraft i; is the control torque provided by the actuators of the follower spacecraft i; is the translational bias vector; is the translational control force of the follower spacecraft i in the body coordinate system; G(σ i ) is defined as:

[0022]

[0023] The attitude model of the follower spacecraft i is rewritten as:

[0024]

[0025] wherein are intermediate variables, which are defined as

[0026] In the reference spacecraft orbital coordinate system, the orbital position vector of the follower spacecraft i with respect to the reference spacecraft is denoted as the relative velocity vector is denoted as v i; Assuming that the reference spacecraft is not subject to control forces, considering the influence of the follower spacecraft's attitude dynamics on its orbital dynamics, the orbital model of the follower spacecraft i relative to the reference spacecraft is expressed as:

[0027]

[0028]

[0029] where,

[0030] m i is the mass of the follower spacecraft i, r d is the distance between the reference spacecraft and the center of the earth, θ d is the true anomaly of the orbit where the reference spacecraft is located, is the distance between the follower spacecraft i and the center of the earth, and μ is the gravitational constant of the earth, is the rotation matrix of the body coordinate system of the follower spacecraft i to the orbital coordinate system of the reference spacecraft, which represents the influence of the attitude dynamics on the orbital dynamics, and its specific form is:

[0031]

[0032]

[0033] where, R(σ i ) is the rotation matrix of the inertial coordinate system to the body coordinate system of the follower spacecraft i. R z (ω d +θ d )R x (i d )R z (Ω d ) represents the rotation matrix of the inertial coordinate system to the orbital coordinate system of the reference spacecraft; ω d ,i d and Ω d represent the perigee distance, the orbital inclination and the ascending node right ascension of the orbit where the reference spacecraft is located, respectively;

[0034] From the attitude and orbital models of the follower spacecraft, the six-degree-of-freedom attitude-orbit coupling model of the follower spacecraft i can be obtained:

[0035]

[0036] where, the intermediate variable form is

[0037] The switching graph is used to describe the dynamic communication topology between spacecraft within the cluster, where h(t) represents the switching signal of the communication topology, which takes the value set This represents a set of nodes that make up a spacecraft. Let h(t) represent the edge set formed by spacecraft communication relationships. Specifically, h(t) is a right-continuous function, and for any t k-1 ≤t<t k , where t k -t k-1 ≥τ d , τ d >0, k=1,2,..., exists Make h(t) = p; Node set In the edge set ∑, node 0 represents the leader 0, and node i represents the follower spacecraft i; at time t, edge (j,i) belongs to edge set ∑ if and only if follower spacecraft i can obtain information about follower spacecraft j. h(t) Where i = 1, ..., n, j = 0, 1, ..., n;

[0038] The neighbor set of follower i is defined as Neighbor set This includes all spacecraft that can send information to follower i at time t; these spacecraft are also called follower i's neighbor spacecraft; define the switching graph. adjacency matrix Where (j,i)∈∑ h(t) Then a ij (t)>0, otherwise a ij (t) = 0; considering that in practical applications, spacecraft do not send information to themselves, a ii (t) = 0.

[0039] Furthermore, in the second step, the design error variable is:

[0040]

[0041] in, σ d Indicates the desired posture, K represents the desired relative orbital position of spacecraft i; c =diag{c1I 3×3 c2I 3×3}; express The k-th element, where k = 1, 2, 3, 4, 5, 6; c1, c2 > 0 are parameters to be designed;

[0042] make This represents the event triggering time sequence, where t0 = 0; when t k ≤t<t k+1 At that time, control signal The zero-order hold is used to update at time t k and keep constant after that, i.e.,

[0043] Γ i (t) = Γ oi (t k ), t k ≤ t < t k+1

[0044] where Γ oi is the controller to be designed; the measurement error of the control signal is e o = Γ i (t) - Γ oi (t), and based on the spacecraft cluster attitude and orbit coupling model, the event-triggered mechanism is designed as:

[0045]

[0046] where inf{ *} represents the lower bound of the set * ; a1, a2, a3 > 0, respectively taking values of 7, 9, 7; γ1, γ2, γ3 > 0, respectively taking values of 500; if e o = [e o1 e o2 e o3 e o4 e o5 e o6 ] T , then if , then

[0047] Further, in the third step, the following is defined:

[0048]

[0049] where (J i ) mn represents the inertia matrix J i , the element in the mth row and the nth column. The regression matrix Y i is defined as:

[0050]

[0051] where, The specific expressions are:

[0052]

[0053] where,

[0054] The adaptive parameter estimation law of the inertia and mass parameters is designed as follows:

[0055]

[0056] wherein, represents the estimated value of v(Ξ i ), is a positive definite diagonal matrix to be designed.

[0057] Further, the fourth step is to design a spacecraft attitude and orbit cooperative anti-jamming controller based on the event-triggered mechanism designed in the second step and the inertia and mass estimation values obtained in the third step, as follows:

[0058]

[0059] wherein, is a positive definite diagonal matrix to be designed; when the i-th spacecraft and the j-th spacecraft have communication, a ij = 1, otherwise, a ij = 0; wherein, σ d represents the expected attitude, represents the expected orbit position of the follower spacecraft j relative to the reference spacecraft; K c = diag{c1I 3×3 ,c2I 3×3}, c1, c2 > 0 are to-be-designed parameters. According to the above design, the triggering interval of the designed event-triggered mechanism is strictly greater than zero, the discontinuous communication between the controller and the actuator can be realized, and the loss of spacecraft communication resources can be effectively reduced; the designed adaptive law can ensure the system stability without knowing the inertia and mass information; and the distributed attitude and orbit cooperative anti-jamming controller can realize the formation of a predetermined orbit configuration by all the follower spacecraft and achieve the same attitude.

[0060] The present application has the following beneficial effects compared with the prior art:

[0061] The present application designs a distributed attitude and orbit cooperative controller based on an event-triggered mechanism to solve the problem of lack of high-precision attitude and orbit cooperative control capability in the prior art under the condition of limited communication resources, which greatly reduces the communication burden while ensuring the precision of attitude and orbit cooperative control. Furthermore, the prior art spacecraft cluster attitude and orbit cooperative control scheme is designed on the premise that the inertia and mass parameters of the spacecraft are known. Considering that the fuel consumption and other reasons may cause the uncertainty of the inertia and mass of the spacecraft, the present application designs an adaptive parameter estimation law to estimate the inertia and mass parameters, which can ensure the implementation of attitude and orbit cooperative control without the inertia and mass information. Attached Figure Description

[0062] Figure 1 This is a system block diagram of a spacecraft cluster attitude and orbit cooperative control method under communication resource constraints according to the present invention.

[0063] Figure 2 This invention relates to the communication topology of a spacecraft cluster for a spacecraft cluster attitude and orbit cooperative control method under conditions of limited communication resources. Detailed Implementation

[0064] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0065] like Figure 1 As shown, the attitude and orbit cooperative control method for a spacecraft cluster under communication resource constraints according to the present invention includes the following steps:

[0066] The first step is to establish an attitude-orbit coupling model of the following spacecraft in a rigid spacecraft swarm system, based on the attitude and orbital models of the spacecraft; and to describe the dynamic communication topology of the spacecraft swarm system using algebraic graph theory.

[0067] The second step is to design an event triggering mechanism for the attitude and orbit coupling model of the following spacecraft established in the first step, in order to describe the discontinuous communication between the controller and actuator of the following spacecraft.

[0068] The third step is to design an adaptive parameter estimation law for the attitude and orbit coupling model of the following spacecraft established in the first step, and obtain the estimated values ​​of the inertia and mass of the following spacecraft.

[0069] The fourth step involves designing a spacecraft attitude and orbit coordination anti-interference controller based on the event triggering mechanism designed in the second step and the inertia and mass estimates obtained in the third step. This ensures that all following spacecraft form a predetermined orbital configuration and achieve attitude consistency, thus completing a high-precision attitude and orbit coordination control method for spacecraft clusters under conditions of limited communication resources.

[0070] The specific implementation steps are as follows:

[0071] First, consider a spacecraft cluster system consisting of n follower spacecraft. We first define the following notation: The set of r real vectors; Represents the set of r×r real matrices; diag{·} represents a diagonal matrix; sgn(·) represents the standard sign function; I e Let M be the e×e identity matrix; m∈M means that element m belongs to set M; The expression M indicates that all elements of set M are elements of set N; ||·|| denotes the Euclidean norm of a vector. This represents the first derivative of vector a with respect to time. denotes the second derivative of the vector a with respect to time; A T denotes the transpose of the matrix or vector A; A -1 denotes the inverse of the matrix A; denotes the inverse of the vector for x × denotes the following skew-symmetric matrix:

[0072]

[0073] The operator L is defined as:

[0074]

[0075] The attitude model of the follower spacecraft i is represented by modified Rodrigues parameters as:

[0076]

[0077]

[0078] wherein is the modified Rodrigues parameter of the follower spacecraft i, used to represent the orientation of the body coordinate system of the follower spacecraft i with respect to the inertial coordinate system; denotes the angular velocity of the body coordinate system of the follower spacecraft i with respect to the inertial coordinate system; is the inertia matrix of the follower spacecraft i, which can be respectively taken as:

[0079]

[0080]

[0081] is the control torque provided by the actuator of the follower spacecraft i; is the translational offset vector, which can be respectively

[0082] χ h1 = [0.01 -0.02 0.015] T m,χ h2 = [-0.01 0.02 -0.03] T m,

[0083] χ h3 = [0.02 -0.02 -0.05] T m,χ h4 = [0.03 0.02 0.01] T m;

[0084] is the translational control force of the follower spacecraft i in the body coordinate system; G(σi ) is defined as:

[0085]

[0086] The attitude model of the follower spacecraft i is rewritten as:

[0087]

[0088] where, are intermediate variables, and their specific forms are

[0089] In the reference spacecraft orbital coordinate system, the orbital position vector of the follower spacecraft i relative to the reference spacecraft is represented as The relative velocity vector is represented as v i . Assuming that the reference spacecraft is not subject to control forces, considering the influence of the follower spacecraft attitude dynamics on its orbital dynamics, the orbital model of the follower spacecraft i relative to the reference spacecraft can be represented as:

[0090]

[0091]

[0092] where,

[0093] m i represents the mass of the follower spacecraft i, which can take values of m1 = 100 kg, m2 = 120 kg, m3 = 115 kg, m4 = 108 kg, r d represents the distance between the reference spacecraft and the center of the earth, θ d is the true anomaly of the orbit in which the reference spacecraft is located, represents the distance between the follower spacecraft i and the center of the earth, μ is the earth gravitational constant, is the rotation matrix of the body coordinate system of the follower spacecraft i to the reference spacecraft orbital coordinate system, which represents the influence of attitude dynamics on orbital dynamics, and its specific form is:

[0094]

[0095]

[0096] where, R(σ i ) is the rotation matrix of the inertial coordinate system to the body coordinate system of the follower spacecraft i. R z (ω d + θ d ) R x (i d ) R z (Ωd ) represents the rotation matrix from the inertial coordinate system to the reference spacecraft orbital coordinate system. ω d d and Ω d represent the argument of perigee, the orbit inclination and the right ascension of the ascending node of the orbit where the reference spacecraft is located, respectively. The semi-major axis a d = 7000 km, the orbit eccentricity e d = 0.02, the initial true anomaly θ d (0) = 0 rad, and the other orbit parameters are

[0097] The six-degree-of-freedom attitude-orbit coupled model of the follower spacecraft i can be obtained from the attitude and orbit models of the follower spacecraft:

[0098]

[0099] where the intermediate variable form is The initial attitude and position of the follower spacecraft can be set as:

[0100] ξ1= [0.1 0.2 0.3 250 20 423] T m,ξ2= [0.1 -0.2 0.3 -15 -505 10] T m,

[0101] The switching graph is used to describe the dynamic communication topology among the spacecraft in the cluster, where h(t) represents the switching signal of the communication topology, which takes the set to represent the node set composed of the spacecraft; to represent the edge set formed by the communication relationship of the spacecraft. Specifically, h(t) is a right-continuous function, and for any t k-1 ≤t<t k (where t k -t k-1 ≥τ d ,τ d > 0, k = 1, 2,...). There exists such that h(t) = p; the node 0 in the node set represents the leader 0, and the node i represents the follower spacecraft i; the edge (j, i) (where i = 1,..., n, j = 0, 1,..., n.) belongs to the edge set∑ h(t) .

[0102] In addition, the neighbor set of the follower spacecraft i can be defined as ​where N contains all the spacecrafts that can send information to follower i at time t, which are also called the neighbors of follower i. The switching graph is defined as the adjacency matrix of where if (j, i)∈∑ h(t) , then a ij (t) > 0, otherwise a ij (t) = 0; considering that in practical applications a spacecraft does not send information to itself, a ii (t) = 0. The spacecraft cluster communication topology structure can be selected as shown in the communication topology graph Figure 2 , and the switching signal can be set as:

[0103]

[0104] k = 0, 1, 2..., T = 4 s.

[0105] Second, based on the spacecraft attitude and orbit coupling model established in the first step, an event-triggered mechanism is designed to describe the discontinuous communication between the spacecraft controller and the actuator. The error variable is designed as:

[0106]

[0107] where, σ d represents the desired attitude, which can be taken as σ d = [sin(20n d t)cos(20n d t)sin(20n d t)] T , represents the desired orbit position of the follower spacecraft i relative to the reference spacecraft; K c = diag{c1I 3×3 ,c2I 3×3}; represents the kth element of , where k = 1, 2, 3, 4, 5, 6; c1, c2 > 0 are to be designed parameters, which can be taken as c 12 = c 32 = 0.15, c 22 = c 42 = 0.1, c i1 = 0.2. The desired position of the formation center relative to the reference spacecraft can be taken as where T d = 2π / n d , the average orbit angular velocity Earth gravitational constant μ = 398600.44 km 3 / s 2 The desired position of the follower spacecraft i relative to the formation center can be given as:

[0108]

[0109] where,

[0110] The matrix

[0111]

[0112] Then, the desired position of the follower spacecraft i relative to the reference spacecraft is

[0113] Let denote the event-triggered time sequence, where t0= 0. When t k ≤t<t k+1 , the control signal is updated at t k and kept constant afterwards, i.e.,

[0114] Γ i (t) = Γ oi (t k ), t k ≤t<t k+1

[0115] where Γ oi is the controller to be designed. Then, the measurement error of the control signal is e o = Γ i (t) - Γ oi (t), and based on the spacecraft cluster attitude and orbit coupled model, the event-triggered mechanism can be designed as:

[0116]

[0117] where inf{ *} denotes the infimum of the set { *}; a1, a2, a3 > 0, which can take values of 7, 9, 7, respectively; γ1, γ2, γ3 > 0, which can take values of 500, respectively; if e o = [e o1 e o2 e o3 e o4 e o5 e o6 ] T , then if , then

[0118] Thirdly, based on the established attitude and orbit coupled model of the follower spacecraft in the first step, the adaptive law is designed to estimate the inertia and mass parameters. Define where (J i ) mn is the inertia matrix J i , and the element in the mth row and nth column is denoted as J i m,n. Define the regression matrix Y i as:

[0119]

[0120] where, The specific expressions of the two are:

[0121]

[0122] where, The adaptive parameter estimation law of the inertia and mass parameters is designed as:

[0123]

[0124] where, denotes the estimated value of v(Ξ i ), and the initial value can be set as [2.5 2.5 2.5 0 0 0 80] T , is a positive definite diagonal matrix to be designed, which can be taken as [20 20 20 20 20 20 1] T .

[0125] Fourthly, based on the event-triggered mechanism designed in the second step and the inertia and mass estimation values obtained in the third step, the spacecraft attitude and orbit cooperative anti-disturbance controller is designed as:

[0126]

[0127] where, is a positive definite diagonal matrix to be designed; when there is communication between the ith spacecraft and the jth spacecraft, a ij = 1, otherwise, a ij = 0; where, σ d denotes the desired attitude, denotes the desired orbit position of the follower spacecraft j relative to the reference spacecraft; K c = diag{c1I 3×3 ,c2I 3×3}, c1, c2 > 0 are parameters to be designed.

[0128] The spacecraft cluster attitude and orbit cooperative control method can guarantee that all follower spacecrafts can track the expected attitude and reach the predetermined orbit position to form a specific formation configuration under a dynamic communication topology even if there is a limited communication resource. Compared with a traditional method without considering the limited communication resource, the control method can achieve higher attitude and orbit cooperative control precision with less communication times, and high precision and low energy consumption requirements are achieved.

[0129] The contents not described in detail in the specification of the present application belong to the prior art known to those skilled in the art.

Claims

1. A method for coordinated attitude and orbit control of a spacecraft cluster under conditions of limited communication resources, characterized in that, Includes the following steps: The first step, for a rigid spacecraft swarm system including follower spacecraft, is to establish a follower spacecraft attitude-orbit coupling model based on the spacecraft's attitude and orbital models; then, algebraic graph theory is used to describe the dynamic communication topology of the spacecraft swarm system, considering a spacecraft swarm system consisting of n follower spacecraft. First, define the following notation: express The set of real number vectors; express The set of real number matrices; Represents a diagonal matrix; Represents standard symbolic functions; for The identity matrix; Represents element Belongs to set ; Represents a set All elements are sets Element; The Euclidean norm of a vector; Representing vectors The first derivative with respect to time; Representing vectors The second derivative with respect to time; Represents a matrix or vector The transpose of the matrix; Representation matrix The inverse matrix; for vectors In other words, Represent the following skew-symmetric matrix: Define about Operators for: Follow the spacecraft The attitude model, expressed using modified Rodrigue parameters, is as follows: ， in, It is a follower spacecraft The modified Rodrigues parameter is used to represent the following spacecraft. The orientation of the body coordinate system relative to the inertial coordinate system; Indicates following the spacecraft Angular velocity of the body coordinate system relative to the inertial coordinate system; To follow the spacecraft The moment of inertia matrix; To follow the spacecraft The control torque provided by the actuator; It is the translation offset vector; To follow the spacecraft Translational control force in the body coordinate system; Defined as: Will follow the spacecraft The pose model is rewritten as: in, , , All are intermediate variables, specifically in the form of , , ; In the reference spacecraft orbital coordinate system, following the spacecraft The orbital position vector relative to the reference spacecraft is represented as: The relative velocity vector is expressed as Assuming the reference spacecraft is unaffected by control forces, and considering the influence of the follower spacecraft's attitude dynamics on its orbital dynamics, the follower spacecraft... The orbital model relative to the reference spacecraft is represented as follows: in, , , , Indicates following the spacecraft quality Indicates the distance between the reference spacecraft and the Earth's center. It is the true anomaly angle relative to the orbit of the spacecraft. Indicates following the spacecraft Distance from the Earth's center It is the Earth's gravitational constant. It is a follower spacecraft The rotation matrix from the body coordinate system to the reference spacecraft orbital coordinate system represents the influence of attitude dynamics on orbital dynamics, and its specific form is: in, It is from the inertial coordinate system to the spacecraft. Rotation matrix of the body coordinate system; This represents the rotation matrix from the inertial coordinate system to the reference spacecraft orbital coordinate system; , and These represent the perigee distance, orbital inclination, and right ascension of the ascending node of the reference spacecraft, respectively. From the attitude and orbital model of the follower spacecraft, the following spacecraft can be obtained. A six-DOF attitude-orbit coupling model: The intermediate variable is in the form of , , , , , ; Using switching diagrams Describe the dynamic communication topology between spacecraft within the cluster, where The signal representing the switching of the communication topology, and its set of values. ; This represents a set of nodes that make up a spacecraft. This represents the edge set formed by spacecraft communication relationships; specifically... It is a right-continuous function, and for any ,in , , ,exist Make Node set Nodes in Indicates the leader ,node Indicates following the spacecraft ; The moment, if and only if following the spacecraft It is possible to obtain information about the following spacecraft. Information, side Belongs to edge set ,in , ; Followers The neighbor set is defined as Among them, the neighborhood set Included in Always able to reach followers All spacecraft that send the message are also called followers. Neighboring spacecraft; definition switching diagram adjacency matrix If ,So ,otherwise Considering that in practical applications spacecraft do not send information to themselves, ; The second step is to design an event triggering mechanism for the attitude and orbit coupling model of the following spacecraft established in the first step, in order to describe the discontinuous communication between the controller and actuator of the following spacecraft. The third step is to design an adaptive parameter estimation law for the attitude and orbit coupling model of the following spacecraft established in the first step, and obtain the estimated values ​​of the inertia and mass of the following spacecraft. The fourth step involves designing a spacecraft attitude and orbit coordination anti-interference controller based on the event triggering mechanism designed in the second step and the inertia and mass estimates obtained in the third step. This ensures that all following spacecraft form a predetermined orbital configuration and achieve attitude consistency, thus completing a high-precision attitude and orbit coordination control method for spacecraft clusters under conditions of limited communication resources.

2. The method for coordinated attitude and orbit control of a spacecraft cluster under communication resource constraints as described in claim 1, characterized in that: In the second step, the design error variable is: in, , , Indicates the desired posture, Indicates following the spacecraft Desired relative orbital position; ; , express The There are elements, among which ; These are the parameters to be designed; make This represents the event triggering time sequence, where ;when At that time, control signal Through the zero-order hold Update it constantly and then keep it constant, that is: in, The controller to be designed is given by the following statement: The measurement error of the control signal is... Based on the spacecraft cluster attitude-orbit coupling model, the event triggering mechanism is designed as follows: in, Represents a set The infimum; The values ​​are respectively ; The values ​​are respectively ;like ,but , ;like ,but , .

3. The method for collaborative attitude and orbit control of a spacecraft cluster under communication resource constraints as described in claim 2, characterized in that: In the third step, the following is defined: in, Representing the inertia matrix No. Line number Column elements define the regression matrix for: in, , The specific expressions for both are: in, , ; The adaptive parameter estimation law for design inertia and mass parameters is: in, express The estimated value, It is the positive definite diagonal matrix to be designed.

4. The spacecraft cluster attitude and orbit cooperative control method under communication resource constraints as described in claim 3, characterized in that: In the fourth step, based on the event triggering mechanism designed in the second step and the inertia and mass estimates obtained in the third step, the spacecraft attitude and orbit cooperative anti-interference controller is designed as follows: in, It is the positive definite diagonal matrix to be designed; when the... The spacecraft and the first When there is communication between spacecraft ,otherwise, ; in, , , Indicates the desired posture, Indicates following the spacecraft The desired orbital position relative to a reference spacecraft; , , These are the parameters to be designed.

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