卫星编队飞行的无速度测量非线性鲁棒控制

本文基于带有界干扰的线性动力学模型，研究了卫星编队飞行中的相对位置控制问题。首先，在线性二次型最优控制的基础上，设计了一种非线性控制律，并使用李雅普诺夫稳定性理论证明了系统的稳定性。接着，通过对线性系统状态观测器进行改进，得到了一种非线性速度观测器，观测误差被证明是渐近收敛的。观测器与控制律的结合实现了无速度测量的控制，闭环系统被证明是渐近稳定的。文末的数值仿真验证了理论分析。

Nonlinear robust control without velocity measurements for satellite formation flying

The problem of relative position control for multiple satellites formation flying is investigated.The linear dynamic model is used with limited disturbances included.Based on the linear quadratic optimal control,a nonlinear control law is presented.System stability is proved using Lyapunov's stability theorem.A nonlinear velocity observer is obtained by modifying the state observer of linear system.And the global asymptotic convergence of the observer error is guaranteed.Combining the observer and the control law leads to control without velocity measurements.The close loop system is proved to be asymptotically stable.At last,numerical simulation results are presented to illustrate the theoretical analysis.