电磁航天器编队悬停鲁棒协同控制方法

针对电磁航天器编队近地轨道悬停问题，提出一种在缺少参考轨道准确信息时的协同控制方法。用TH方程描述航天器间的相对运动，选择与参考轨道同周期的圆轨道为标称轨道。将参考轨道相对于标称圆轨道的偏差、地球非球形引力、大气阻力及其他天体引力等参数单独归类，视其为不确定量，构成不确定系统。通过引入一致性理论，在电磁作用模型和动力学方程均存在不确定性的条件下，针对航天器编队悬停的目标设计了鲁棒协同控制律。考虑能量消耗最优和均衡以及轨道姿态解耦，给出了通过优化进行磁矩配置的方案。仿真结果表明，所设计的鲁棒协同控制律能够实现编队电磁航天器高精度悬停，所给出的磁矩配置方案能够实现磁矩的合理分配。 

A robust coordinated control method for hovering of electromagnetic spacecraft formation

Aimed at the problem of near-Earth orbit hovering of electromagnetic spacecraft formation, a coordinated control method is proposed in the absence of accurate information of reference orbit. The relative motion between spacecraft is described by the TH equation, and the circular orbit of the same cycle as the reference orbit is selected as the nominal orbit. The deviation of the reference orbit from the nominal circular orbit, the Earth's non-spherical gravity, the atmospheric resistance and the other celestial gravitation are classified separately, and they are considered as uncertain and constitute an uncertain system. By introducing the consistency theory, the robust coordinated control law is designed for the target of spacecraft formation hovering under the condition that the electromagnetic action model and the dynamic equation are all uncertain. Considering the optimal and balanced energy consumption and the decoupling of orbital attitude, a scheme of magnetic moment distribution through optimization is given. The simulation results show that the designed robust coordinated control law can achieve high-precision hovering of electromagnetic spacecraft formation. The proposed magnetic moment configuration scheme can realize the rational distribution of magnetic moments.