基于饱和约束和时变观测器设计的异构航天器姿态控制策略

针对空间异构环境下易产生非线性和不确定性影响，多个异构航天器进行姿态控制存在执行器输入饱和约束，对有限的资源进行协作调度难度大等问题，提出了异构航天器包含饱和输入和不确定性动态的鲁棒一致性追踪控制策略.在该控制策略中，参考系统的动态权重矩阵被允许是完全未知的，因此现有的方法并没有可行解.通过引入有向生成树假设，一种新的权重平均方法被提出来构造分布式观测器动态.通过综合分布式观测和非线性动态，一类新的鲁棒一致性追踪控制器被设计.仿真结果表明：当同步行为和分布式观测动态能够被同时获得并且达到领导者状态，异构系统的鲁棒一致性问题将被解决.同时，通过利用多个航天器的动态模型，设计了不同性能指标的参数条件，验证和分析了提出方法的有效性.

Attitude control strategy of heterogeneous spacecraft based on saturation constraint and time-varying observer design

In order to solve the problems of the nonlinear and uncertain effects in the heterogeneous space environment,the actuator input saturation constraint,and the difficulty of collaborative scheduling with limited resources in attitude control of multiple heterogeneous spacecraft,a robust consistent tracking control strategy with saturated input and uncertain dynamics for heterogeneous spacecraft is proposed.In the proposed control strategy,the dynamic weight matrix of the reference system is allowed to be completely unknown,so the existing method has no feasible solution.By introducing the directed spanning tree assumption,a new weighted averaging method is proposed to construct the distributed observer dynamics.Then,a new class of robust consensus tracking controllers is designed by combining distributed observations with nonlinear dynamics.The simulation results show that when synchronous behavior and distributed observation dynamics can be obtained simultaneously and to reach the leader state,the problem of robust consistency of heterogeneous systems will be solved.At the same time,using the dynamic model of heterogeneous spacecraft,the parameter conditions of different performance indexes are designed,and the effectiveness of the proposed method is verified and analyzed.