有向图中模块化航天器系统相对轨道的自适应分布式一致性

基于多智能体系统一致性理论,对模块化航天器相对轨道的分布式一致性问题进行了研究.各模块之间的信息交互拓扑结构为更具一般性的有向图.当存在模块质量不确定性的情形下,设计了仅依赖模块自身及其邻近模块信息且无需模块间相对速度信息的自适应控制算法.针对模型中存在外部干扰的情形,通过引入带有时变自适应参数的变结构控制项,实现了对未知上界干扰的补偿,并且证明了闭环系统是渐近稳定的.此外,本文所设计的算法具有分布式的特点,不会因为模块数量的增多而增加所提算法的复杂度.最后对6个模块组成的模块化航天器的编队飞行进行了仿真分析,仿真结果表明本文设计的控制律是有效可行的.

Adaptive distributed consensus for relative orbit of modular spacecrafts under a directed graph

The distributed leaderless consensus problem for relative orbit of modular spacecrafts is studied based on the consensus theory of multi-agent systems. The interaction topology among the modules is a general directed graph. When all modules are with unknown masses, we propose an adaptive control algorithm based on the information of individual module and its neighbors, without the need of relative velocity measurements. To compensate with the bounded external disturbances, we introduce a variable structure control term with an adaptive updating law. The closed-loop system is proved to be asymptotically stable. Moreover, the proposed control algorithm is totally distributed; its complexity will not increase when the number of modules becomes greater. Simulation results of a scenario of six modules are conducted to validate the effectiveness of the proposed control schemes.