基于一致性算法的多航天器姿态协同控制研究
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摘要
近些年来,多智能体协同控制的研究受到了各个领域的广泛关注。一致性算法是多智能体协同控制的研究核心,并为很多应用提供了必要的理论基础。其中,分布式航天器的姿态协同控制就是一个典型的例子。本文在一致性算法的研究基础上开展多航天器的姿态协同控制研究。
针对多智能体协同控制中存在的稀疏通信拓扑、不可靠的通信链路连接、网络延时、外界干扰等问题,提出了一种适用于通用的固定有向通信拓扑和动态有向通信拓扑的快速一致性算法,找到了一致性算法在有延时情况下的稳定或一致最终有界的条件,并设计了一种对外界干扰具有鲁棒性的有限时间一致性算法。
基于一致性算法基本理论的研究,开展了多航天器姿态协同控制的研究。为了克服传统的主从控制结构中的严格通信拓扑要求,在固定通信拓扑下提出了一种基于一致性算法的姿态协同跟踪控制策略,并将该控制策略拓展到广义通信拓扑、动态通信拓扑和无角速度测量的情况中。建立了一套适用于不同通信拓扑条件的鲁棒姿态协同控制方法。通过仿真,说明了提出的协同控制方法能够用于解决多航天器静态目标跟随和动态目标跟随的问题,并且较传统的主从控制方法对通信链接失效具有更好的鲁棒性。
针对协同控制方法中存在的延时问题,通过时域方法研究了面向通信延时的姿态协同控制算法。对于静态目标跟随,找到了保证姿态协同调节算法的稳定条件。对于动态目标跟随,找到了保证姿态协同跟踪算法的一致最终有界条件。从而系统地解决了姿态协同控制算法在有延时情况下的控制参数选择问题。数值仿真验证了相应研究的有效性。
在保证系统稳定的基础上,为了提高姿态协同控制算法对外界干扰的鲁棒性并改善系统的收敛性能,分别设计了有限时间的姿态协同调节算法和有限时间的姿态协同跟踪算法。通过数值仿真,说明了有限时间的姿态协同控制策略对外界干扰具有鲁棒性,并且较传统的渐进稳定控制策略有更快的收敛速度。
Cooperative control of multi-agent system has been received much attention inrecent years. Consensus algorithm is critical to the research of cooperative control ofmulti-agent system and it can provide theoretical foundations for many applications.For instance, attitude coordination control for multiple spacecraft is one of typical ap-plications. This thesis mainly studies on attitude coordination control based on con-sensus algorithm.
To solve the problems of sparse communication topologies, unreliable communi-cation connections, network delays and environment distances, we propose an acceler-ated consensus algorithm for the general fixed directed communication topology anddynamic directed communication topology. We also find the stability and uniformlyultimate boundedness conditions for consensus algorithm with delays, and design afinite-time consensus algorithm that is robust to environment disturbances.
Based on the basic research of consensus algorithm, we focus on the research ofattitude coordination control for multiple spacecraft. In order to overcome the strictrequirement of communication topologies in the leader-follower structure, we designan attitude cooperative tracking control law for fixed communication topology basedon consensus algorithm. Then, we extend the algorithm to the case of the general com-munication topology, the case of the dynamic communication topology and the caseof unavailability of the angular velocity. In such case, we build a robust attitude co-ordination control framework that can be used for di?erent communication topologyconditions. Simulation results validate that the proposed coordination control strategycan be used to solve the stationary objective tracking problem and the dynamic ob-jective tracking problem, and it is more robust to the conventionally leader-followerstructure when there exists the communication connection loss.
To solve delay problems in the coordination control, we study the stability ofattitude cooperative control algorithm when these exist communication delays. For stationary objective tracking problem, we find the stability conditions of attitude co-operative regulation algorithm. For dynamic objective tracking problem, we find theuniformly ultimate boundedness conditions of attitude cooperative tracking problem.In such case, we solve the parameter selection problem for the attitude coordinationalgorithms when there exist communication delays. Simulation results validate theeffectiveness of the corresponding research.
To improve the robustness of the system and obtain fast convergence speed, wedesign, respectively, finite-time attitude regulation algorithm and finite-time attitudetracking algorithm. Simulation results validate that finite-time attitude coordinationcontrol strategy is robust to environment disturbances and has faster convergence speedthan the asymptotically stable control strategy.
针对多智能体协同控制中存在的稀疏通信拓扑、不可靠的通信链路连接、网络延时、外界干扰等问题,提出了一种适用于通用的固定有向通信拓扑和动态有向通信拓扑的快速一致性算法,找到了一致性算法在有延时情况下的稳定或一致最终有界的条件,并设计了一种对外界干扰具有鲁棒性的有限时间一致性算法。
基于一致性算法基本理论的研究,开展了多航天器姿态协同控制的研究。为了克服传统的主从控制结构中的严格通信拓扑要求,在固定通信拓扑下提出了一种基于一致性算法的姿态协同跟踪控制策略,并将该控制策略拓展到广义通信拓扑、动态通信拓扑和无角速度测量的情况中。建立了一套适用于不同通信拓扑条件的鲁棒姿态协同控制方法。通过仿真,说明了提出的协同控制方法能够用于解决多航天器静态目标跟随和动态目标跟随的问题,并且较传统的主从控制方法对通信链接失效具有更好的鲁棒性。
针对协同控制方法中存在的延时问题,通过时域方法研究了面向通信延时的姿态协同控制算法。对于静态目标跟随,找到了保证姿态协同调节算法的稳定条件。对于动态目标跟随,找到了保证姿态协同跟踪算法的一致最终有界条件。从而系统地解决了姿态协同控制算法在有延时情况下的控制参数选择问题。数值仿真验证了相应研究的有效性。
在保证系统稳定的基础上,为了提高姿态协同控制算法对外界干扰的鲁棒性并改善系统的收敛性能,分别设计了有限时间的姿态协同调节算法和有限时间的姿态协同跟踪算法。通过数值仿真,说明了有限时间的姿态协同控制策略对外界干扰具有鲁棒性,并且较传统的渐进稳定控制策略有更快的收敛速度。
Cooperative control of multi-agent system has been received much attention inrecent years. Consensus algorithm is critical to the research of cooperative control ofmulti-agent system and it can provide theoretical foundations for many applications.For instance, attitude coordination control for multiple spacecraft is one of typical ap-plications. This thesis mainly studies on attitude coordination control based on con-sensus algorithm.
To solve the problems of sparse communication topologies, unreliable communi-cation connections, network delays and environment distances, we propose an acceler-ated consensus algorithm for the general fixed directed communication topology anddynamic directed communication topology. We also find the stability and uniformlyultimate boundedness conditions for consensus algorithm with delays, and design afinite-time consensus algorithm that is robust to environment disturbances.
Based on the basic research of consensus algorithm, we focus on the research ofattitude coordination control for multiple spacecraft. In order to overcome the strictrequirement of communication topologies in the leader-follower structure, we designan attitude cooperative tracking control law for fixed communication topology basedon consensus algorithm. Then, we extend the algorithm to the case of the general com-munication topology, the case of the dynamic communication topology and the caseof unavailability of the angular velocity. In such case, we build a robust attitude co-ordination control framework that can be used for di?erent communication topologyconditions. Simulation results validate that the proposed coordination control strategycan be used to solve the stationary objective tracking problem and the dynamic ob-jective tracking problem, and it is more robust to the conventionally leader-followerstructure when there exists the communication connection loss.
To solve delay problems in the coordination control, we study the stability ofattitude cooperative control algorithm when these exist communication delays. For stationary objective tracking problem, we find the stability conditions of attitude co-operative regulation algorithm. For dynamic objective tracking problem, we find theuniformly ultimate boundedness conditions of attitude cooperative tracking problem.In such case, we solve the parameter selection problem for the attitude coordinationalgorithms when there exist communication delays. Simulation results validate theeffectiveness of the corresponding research.
To improve the robustness of the system and obtain fast convergence speed, wedesign, respectively, finite-time attitude regulation algorithm and finite-time attitudetracking algorithm. Simulation results validate that finite-time attitude coordinationcontrol strategy is robust to environment disturbances and has faster convergence speedthan the asymptotically stable control strategy.
引文
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