基于循环追踪控制的卫星编队构形调整控制律设计

卫星编队控制问题中，分布式控制优于主从式控制，在编队控制中应用日益广泛。提出了一种基于循环追踪算法的分布式控制策略，分析了该方法的优势。由于循环追踪算法存在编队中心由初始几何中心固定并与运动过程无关的弱点，引进了虚拟灯塔导引进行联合控制实现编队中心可变。建立了三维空间相对运动数学模型，设计非线性循环追踪算法与虚拟灯塔导引联合控制律，对全员联合控制与单星联合控制其余卫星采用非线性循环追踪控制两种方案的计算结果进行比较。结果表明，全员联合控制律的控制方案优于仅单星采用联合控制的方案，两种方案均可实现卫星编队按指定构形运动。

Cyclic pursuit control method design for spacecraft formation configuration adjustment

In formation flying control, the cooperative control methods, considered superior to the leader-follower control approaches, have gained increasingly extensive application. A cyclic pursuit strategy based cooperative control algorithm is proposed with its advantages analyzed. Since the formation center is constrained by initial positions of the satellite in formation, virtual beacon guidance is integrated to better control the formation. A three-dimensional mathematical model of relative motion is built, and two control strategies are proposed. One is that all the spacecraft in formation are controlled by the cooperative control method based on cyclic pursuit and virtual beacon guidance. The other is that only one spacecraft is under the cooperative control method, while other spacecraft are controlled only under cyclic pursuit strategy. Simulation results validate the feasibility of the proposed cooperative control method. The strategy of all spacecraft moving under the cooperative control is better. The formation can achieve the configuration adjustment to fly in the expected orbits.