基于微小卫星合作博弈的失效航天器姿态接管控制

针对多颗微小卫星接管控制失效航天器姿态运动的问题，提出了一种基于多颗微小卫星合作博弈实现对失效航天器姿态接管控制的方法。首先，面向失效航天器姿态接管控制任务需求，设计了各颗微小卫星的局部目标函数，并在考虑多颗微小卫星与失效航天器所形成组合体的动力学约束、微小卫星控制约束的情况下，建立了多颗微小卫星的合作博弈模型。其次，为实现失效航天器对时变期望姿态轨迹的跟踪，在合理设计期望姿态轨迹的基础上，通过构建组合体增广姿态运动方程，将跟踪期望姿态轨迹的要求描述为微小卫星合作博弈控制问题中的一组约束，并建立了多颗微小卫星控制失效航天器跟踪时变轨迹的合作博弈帕累托最优策略的求解框架。最后，对微小卫星合作博弈控制方法的有效性进行仿真验证，结果表明：该方法能够在不需要进行微小卫星控制分配的情况下，通过多颗微小卫星的合作博弈实现对失效航天器的姿态接管控制。与传统方法相比，这种控制方法可避免进行微小卫星之间的控制分配，能够实现微小卫星能量消耗的全局最优且设计简单便于考虑微小卫星的控制约束。

Taking over attitude control of failed spacecraft through cooperative game among multiple microsatellites

Aiming at the problem of using multiple microsatellites to take over the attitude control of a failed spacecraft, a multi-microsatellite cooperative game based attitude takeover control method is proposed. Firstly, local objective function of each microsatellite that can meet the attitude takeover control requirement of the failed spacecraft is designed. Under considerations of the dynamics constraint of the combination composed by multiple microsatellites and the failed spacecraft, and the control constraints of multiple microsatellites, the cooperative game model of multiple microsatellites is established. Next, in order for the failed spacecraft to track a time-varying attitude trajectory, a set of desired attitude trajectory is appropriately designed, based on which the augmented attitude movement equation is established, and the requirement of tracking the desired attitude trajectory is described as a set of constraints in the cooperative game control problem of microsatellites, solving framework of the Pareto optimal strategy of the multi-microsatellite cooperative game is established. Finally, simulations are conducted to validate the effectiveness of the multi-microsatellite cooperative game control method, the simulation results show that the game method can realize attitude takeover control of a failed spacecraft through multiple microsatellites with the control allocation being avoided. Compared with traditional methods, the cooperative game method can avoid control allocation among microsatellites and is simple in design, the microsatellite control constraint can easily be considered and global optimal energy consumption of microsatellites can be realized.