基于预设性能控制的超紧密航天器编队防避撞协同控制

研究了考虑具有外界干扰和防避撞约束的近地轨道超紧密航天器构型控制问题，将反步控制技术、预设性能控制相结合，提出了一种基于预设性能鲁棒控制的六自由度编队协同鲁棒控制方法。首先，给出了近地轨道完整的编队航天器相对位置和相对姿态非线性动力学方程，并根据状态约束条件转换了相对位置动力学模型。其次，设计了预设性能函数，通过误差转换，建立系统等效误差模型，基于反步法设计了预设性能鲁棒控制器，进一步应用Lyapunov稳定性定理证明了其闭环系统的一致最终有界性。最后在MATLAB/Simulink平台上进行了仿真验证，结果表明了方法的有效性。

Cooperative Control for Collision Avoidance of Ultra-Close Spacecraft Formation Based on Prescribed Performance Control

The configuration control problem of ultra-close spacecraft formation flying in Earth orbit with external disturbances and collision avoidance constraints is studied. By combining backstepping control technology and prescribed performance control, a six-degree of freedom formation coordination robust control method based on prescribed performance control is proposed. Firstly, the nonlinear dynamics of relative position and relative attitude of the spacecraft formation in Earth orbit are given, and the relative position dynamics model is transformed according to the state constraints. Secondly, the prescribed performance function is designed, the system equivalent error model is established through error conversion, and the prescribed performance robust controller is developed based on the backstepping method. Further, the stability theorem of Lyapunov is applied to prove the uniform final boundedness of its closed-loop system. Finally, the simulation results on MATLAB/Simulink show the effectiveness of the proposed method.