空间多刚体系统编队及姿态的协同综合控制

针对由多个非线性系统组成的多子系统的协同控制问题,给出了一种基于输出反馈的协同控制律的设计方法,并将其应用于空间多个刚体的编队控制和姿态的协同控制系统中,给出了空间多刚体系统编队控制及姿态协同控制问题有解的充分条件,设计了多刚体编队及姿态稳定的协同综合控制律。仿真结果表明,这种控制方法是有效的、可行的,所设计的控制器能够使整个刚体系统在空间运行过程中保持一定的队形,并且同时稳定控制描述各个刚体系统姿态的四元数。

Formation Control and Attitude Cooperative Control of Multiple Rigid Body Systems

A cooperative control law based on output feedback is presented for multiple nonlinear systems.The given cooperative control law is applied to control the formation of multiple rigid body systems,and at the same time to cooperatively control the attitude of a multiple rigid body systems where quaternion is used to describe the attitude of every rigid body system in the whole system.The sufficient conditions for the solvability of the formation control and the cooperative control problem of multiple rigid body systems are discussed.The synthetic control laws to control the formation and to cooperatively control the attitudes of multiple rigid body systems are designed.The numerical simulation proves the validity of the proposed formation control and cooperative control laws,and the simulation results show that proposed control laws can not only make the multiple rigid body keep a certain formation,but also can stably control the attitude quaternion of every rigid body.