Finite Time Cooperative Control Of Formation Spacecraft Considering Communication Delay

With the single large spacecraft functions more comprehensive,while its structure is more complex,in order to better meet the modern high-precision control requirements of space missions,collaborative multi-spacecraft control concept came into being.Cooperative control required to protect communications between the satellite,however,due to the physical characteristics of the communication device and a communication link,the communication delay and inevitable external disturbances.In order to study the formation of spacecraft limited time to consider the communication delay control problems,this paper has done the following work:1.Establishment of spacecraft coupling relative pose tracking error dynamics model.Based on the SE(3)is coupled posture kinematic and dynamic equations deduced from the spacecraft coupled relative position and orientation of the tracking error dynamics model.2.For there is constant time delay between the formation spacecraft members,designed nonsingular fast terminal sliding mode controller and fuzzy adaptive disturbance estimator.In consideration of the constant communication delay,no first external disturbance compensating system is subjected designed nonsingular fast terminal sliding mode controller and fuzzy adaptive disturbance estimator of external disturbance is estimated by the system and the estimation result as a compensation term added to the controller.It was proven stability and numerical simulation by numerical simulation that disturbance compensation control accuracy of the controller can be improved to a certain extent.3.For varying delay problem exists between the formation spacecraft members,the non-exotic fast terminal sliding mode controller is designed based on the disturbance estimator cut Chebyshev neural network.In considering variable premise communication delays,respectively adaptive fuzzy system disturbance by external disturbance estimator to estimate the disturbance estimator and cutting Chebyshev neural network,as a result of the estimated offset to the terminal sliding fast Nonsingular mode controller,and then prove the stability and numerical simulation.By comparing the two groups that the simulation results,Chebyshev disturbance estimator for external disturbances have a better estimate of the effect.Then add on the basis of the simulation of the same order of random perturbations in the original period spacecraft formation system disturbances,results show that the controller has better anti-interference ability in compensation Chebyshev disturbance estimator.In this paper constant communication delay and time-varying communication delay studied cooperative formation of spacecraft control problems for a limited time,during the controller design using fuzzy adaptive disturbance estimator and disturbance estimator Chebyshev were estimated the system is subject to external disturbances.Results of this study have some value engineering in the field of control of spacecraft formation.