考虑连接非线性的大型桁架天线分散协调控制

针对含非线性连接的大型桁架式天线，考虑铰链非线性所产生的影响，基于连接子结构模态综合建模方法，建立其低阶非线性动力学模型。在此基础上，将动力学模型转换为分散参数化模型，并考虑状态变量不完全可测因素，设计适用于一致性理论的最优观测器。然后基于图论的思想提出桁架式天线的一致性形面保持控制方法，不仅实现了桁架式天线的高精度形面保持控制，同时对作动执行机构的失效具有容错性。仿真结果表明了所提控制方法的有效性。

Distributed coordinated control for large flexible truss antenna considering connection nonlinearity

A dynamic model is established for the large space flexible structure with nonlinear connections based on the theory of dynamic substructure. On this basis, the dynamic model of the flexible structure vibration subsystem is converted into a distributed-parametric system model. Considering the states of the structure cannot be directly measured by any type of sensor, an optimum consensus observer is designed to estimate the main system's modal coordinates. Using the graph theory, a new leader-follower-based consensus vibration controller is proposed to actively suppress the oscillations in distributed parameter flexible structures. The proposed control method can realize high-precision shape maintaining control of large space flexible structure, and is robust to the failure of the structure control elements. The simulation results show the effectiveness of the proposed control method.