Research On Virtual Antenna Configuration Of Formation Satellites

With the development of the small satellite technology,the control technology of micro satellite formation flying has been studied by more and more researchers.Formation satellites have the advantages of low cost,good performance and high robustness.Especially in the formation of virtual satellite antenna,it is necessary to adjust the attitude of the micro satellite and the relative configuration between them.The cooperative control problem of micro satellite formation is a frontier problem,which can be abstracted as the cooperative control between multi-agents.Based on the specific space mission to maintain satellite virtual antenna configuration,different micro satellite distributed control protocols is studied in thesis.The main contents of the thesis include the formation of satellite virtual antenna attitude synchronization control with communication delays,satellite virtual antenna configuration with rotation mode,satellite virtual antenna configuration cooperative control based on multi-leader.This thesis first introduces the research background and current situation of satellite flying,the concept of motion model and virtual antenna.Then mathematical and control theory required for the research is briefly introduced,including algebraic graph theory,matrix theory,coordinate transformation,system stability theory and related knowledge.Secondly,based on the multi-agent collaborative control theory three different control protocols under different conditions are introduced.The satellite virtual antenna attitude synchronization control protocol with communication delays for the second-order integral system is designed,and that can achieve the convergence with bounded delay.By the method based on Laplace transform,the stability of the system can be proved in the frequency domain,and the maximum delay is calculated.For rotational motion of satellite formation virtual antenna,a control protocol of three-dimensional coordinate system is designed.The method based on coordinate transform is adopted to design and analysis the system.The protocol can make the macro satellite with any initial position converge to the specified plane and do the composite rotational motion simultaneously.For cooperative control of satellite virtual antenna with multi-leader,a nonlinear protocol is designed,which can make the follower satellite converge to the convex hull formed by multi-leader.And the system can keep stable when the external interference is introduced.In this thesis,the system controlled by the three kinds of control protocols can be both proved stable.And the numerical simulation is carried out to verify the effectiveness of the proposed distributed cooperative control protocols.