带时延和拓扑切换的编队卫星鲁棒协同控制

综合考虑了存在通信时延、拓扑结构切换、参数不确定性和外部扰动等情况下的编队卫星协同控制问题，分别提出了鲁棒位置和姿态协同控制器。采用Lyapunov直接法，通过恰当地选取公共的Lyapunov函数，保证了所设计的位置协同控制器对于通信时延和拓扑切换具有鲁棒性。控制器中设计了一个自适应项，用于在线补偿卫星质量的不确定性。进一步，引入了一个含有时变参数的非线性饱和函数向量项，保证了位置协同控制器对于外部扰动的鲁棒性，并且控制器是连续的。然后，将协同控制器推广到了姿态协同的情况，提出了类似的鲁棒姿态协同控制器。仿真结果表明了本文协同控制方案的有效性。

Robust Coordinated Control for Formation Flying Satellites with Time Delays and Switching Topologies

Considering the coordinated control problem for formation flying satellites subject to communication delays, switching topologies, parameter uncertainties and external disturbances, robust position and attitude coordinated controllers are proposed respectively. By utilizing Lyapunov direct method and choosing a common Lyapunov function properly, the robustness of the designed position coordinated controller to communication delays and switching topologies is guaranteed. An adaptive term is designed in the controller to compensate the uncertainty of satellite mass on line. Further, a nonlinear saturated function vector with a time-varying parameter is introduced to make sure that the position coordinated controller is robust to external disturbances and is continuous. Then the coordinated controller is extended to the case of attitude coordination, and a similar robust attitude coordinated controller is presented. Simulation results demonstrate the effectiveness of the proposed coordinated control schemes.