有向切换拓扑条件下多航天器分组姿态协同控制

针对有向切换拓扑条件下多航天器分组姿态协同控制问题,提出一种基于变量代换和矩阵分解的控制方法.首先,给出分组情况下系统Laplacian矩阵特征值的性质,并对航天器姿态模型进行变量代换,将非线性系统的分组姿态协同问题转化为线性系统的分组一致问题;然后,通过分解Laplacian矩阵,将分组一致问题转化为线性切换系统的稳定性问题,从而通过Lyapunov稳定性理论进行分析,给出系统拓扑的最小驻留时间;最后,对包含两个分组的系统进行仿真,结果表明了所提出控制方法的有效性.

Group attitude coordinated control of multi-spacecraft with directed switching topologies

A control method based on variables substitution and matrix decomposition is proposed for group attitude coordinated control of multi-spacecraft with directed switching topologies. Firstly, the paper provides the properties of the eigenvalues of the Laplacian matrix. The variable in the spacecraft attitude model is substitued, which turns the group attitude coordinated control problem of a nonlinear system into the group consensus problem of a linear system, and then it is turned into the stability problem of a switched linear system by decomposing the Laplacian matrix. It is analyzed using the Lyapunov stability theory, and the results show the minimum dwell time is presented. Simulation is carried out on a system with two subgroups, and the results show that effectiveness of the proposed method.