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Study On Spacecraft Attitude Coordination Control Based On Consensus Algorithm

Posted on:2011-04-01Degree:DoctorType:Dissertation
Country:ChinaCandidate:Z Y MengFull Text:PDF
GTID:1222330338990256Subject:Instrument Science and Technology
Abstract/Summary:PDF Full Text Request
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.
Keywords/Search Tags:consensus algorithm, distributed spacecraft, attitude coordination con-trol, communication topology, finite time
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