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在SO上多个灵活的航天器的无领导态度同步控制 ((3))
Chenlu Feng1, Weicheng Jin1, Ti Chen1
1State Key Laboratory of Mechanics and Control for Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
ISA transactions
|July 2, 2025
概括
本研究介绍了多个灵活的航天器的无领导态度同步的自适应控制器. 这些方法确保了航天器的协调方向,尽管存在干扰和振动.
科学领域:
- 航空航天工程 航空航天工程
- 控制系统理论 控制系统理论
- 机器人技术 机器人技术 机器人技术
背景情况:
- 太空飞船的态度同步对于多代理太空任务至关重要.
- 现有的方法经常与灵活的航天器动力学和无领导的配置作斗争.
- 通信拓显著影响分布式控制系统的性能.
研究的目的:
- 开发适应式控制器,在特殊的直角组SO(3) 上对多个灵活的航天器进行无领导态度同步.
- 用于处理任意和接近零的最终角速度的场景.
- 为了确保对外部干扰的强度,并保证灵活的振动的局限性.
主要方法:
- 分布式观测器的设计,使用从欧几里德空间 (R^3x3) 到Lie组SO(3) 的平滑映射来生成参考态度.
- 在SO(3) 上开发自适应式连续控制器,用于无领导同步.
- 严格的数学证明来证明控制策略的趋同.
- 通过数值模拟进行验证.
主要成果:
- 在跨越树木的各种通信拓下,成功地同步了多个灵活的航天器的无领导态度.
- 控制器有效地处理外部干扰,同时保持有界的灵活振动.
- 拟议的适应性控制方法的证明趋同.
结论:
- 拟议的自适应控制策略对于灵活航天器的无领导态度同步是有效的.
- 这些方法为在存在干扰和振动的情况下协调多航天器操作提供了可靠的解决方案.
- 在SO(3) 上使用观察员有助于生成可靠的态度参考.
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