多航天器编队在轨自主协同控制研究

提出一种基于信息一致性的分布式协同控制策略，该策略可自主实现多航天器编队 的 构型建立、保持与整体机动。在该策略中，编队内各航天器均具有局部的分层控制结构：参 考点一致性估计层根据各航天器初始状态与编队内信息拓扑，协商估计出多航天器编队整体 系统基准参考点；协同制导层根据编队整体系统模型预测控制方程，采用并行计算方式，规 划各航天器从初始状态到期望构型的期望重构机动路径；协同控制层采用基于二阶一致性算 法的协同反馈控制律，使各航天器彼此协同地跟踪期望路径和整体机动参考信息。仿真结果 表明:当信息拓扑中存在最大生成树时，该策略能够实现多航天器编队构型建立、保持与整 体机动的协同控制，并具有较好鲁棒性。〖JP〗

On-Orbit Autonomous Operation Cooperative Control of Multi-spacecraft Formation

A feasible cooperative control strategy based on the information consensus theory is proposed for multi-spacecraft formation configuration initialization, keeping and entire-formation maneuver. There is a multilayer control architecture locally aboard each spacecraft of the formation employing the cooperative control strategy. Firstly on the reference point consensus estimation layer, a consensual reference point of total formation system is estimated according to each spacecraft's initial states and the information topology within the formation. Secondly on the cooperative guidance layer, the desired transfer paths from initial states to desired configuration states are obtained based on the model predictive function of entire-formation system with parallel computing. Finally on the cooperative control layer, the cooperative control law derived from the second-order consensus algorithm is employed in order to induce each spacecraft to track the desired path and the reference information of entire-formation maneuver coordinately. The simulation results demonstrate that the control strategy can implement formation configuration initialization, keeping and entire-formation maneuver if the formation information topology contains a rooted directed spanning tree, which also indicated the fine robustness properties of the control strategy and the control law.