基于super-twisting算法的多航天器姿态有限时间 分布式协同控制

针对受外界干扰和执行器故障影响的多航天器姿态协同控制问题,本文设计了一种基于干扰观测器的分布式协同supper-twisting滑模控制器.首先,将各航天器的外界干扰和执行器故障看作一个集总干扰,设计自适应滑模干扰观测器对其进行估计.其次,将supper-twisting算法和积分滑模面相结合,设计一种基于多航天器姿态一致性误差的分布式协同控制器,并由Lyapunov稳定性理论证明了所设计的多航天器姿态可以在有限时间内收敛到平衡点附近的邻域内.最后的仿真研究及比较结果表明,所设计的控制器可以加快系统的收敛速度,并提高系统的控制精度.

Finite time distributed coordinated control for attitude of multi-spacecraft based on super-twisting algorithm

A distributed cooperative super-twisting sliding mode controller based on disturbance observer is designed for multi-spacecraft attitude cooperative control problem affected by external disturbances and actuator faults. Firstly, the external disturbances and actuator faults of each spacecraft are regarded as a lumped disturbance, and adaptive sliding mode disturbance observer is designed to estimate the disturbance. A distributed cooperative controller based on attitude consensus error of multi-spacecraft is designed by combining super-twisting algorithm with integral sliding mode surface. It is proved by Lyapunov stability theory that the designed attitude of multi-spacecraft can converge to the neighborhood near the equilibrium point in finite time. Finally, simulation and comparison results show that the designed controller can accelerate the convergence speed of the system and improve the control accuracy of the system.