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Delay Depending Decentralized Adaptive Attitude Synchronization Tracking Control of Spacecraft Formation

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Chinese Journal of Aeronautics 2012年第3期25卷 406-415页

作者： ZHOU Jiakang ma guangfu HU Qinglei Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China

This paper deals with the problem of cooperative attitude tracking with time-varying communication delays as well as the delays between inter-synchronization control parts and self-tracking control parts in the spacecraft formation flying. First, we present the attitude synchronization tracking control algorithms and analyze the sufficient delay-dependent stability condition with the choice of a Lyapunov function when the angular velocity can be measured. More specifically, a class of linear filters is developed to derive an output feedback control law without having direct information of the angular velocity, which is significant for practical applications with low-cost configurations of spacecraft. Using a well-chosen Lyapunov-Krasovskii function, it is proven that the presented control law can make the spacecraft formation attitude tracking system synchronous and achieve ex- ponential stability, in the face of model uncertainties, as well as non-uniform time-varying delays in communication links and different control parts. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control schemes.

关键词： spacecraft formation flying decentralized control attitude synchronization time-delay output feedback control

Time-varying control via nominal trajectory linearization for an air-breathing hypersonic vehicle

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控制理论与应用（英文版） 2011年第4期9卷 535-540页

作者： guangfu ma Zhiyong SHE School of Astronautics Harbin Institute of Technology Harbin Heilongjiang 150001 China

A time-varying control law via nominal trajectory linearization for an air-breathing hypersonic vehicle （ABHV） model is applied. Feasible guidance command signal serials are generated by nonlinear dynamic inverse （NDI） method considering interactions between aerodynamic effects and propulsion systems. Multiple-time-scale continuous time-varying control, which meets the requirement with accurate, robust, and decoupled tracking of both the commanded trajectory and angular rate profiles in the presence of modeling uncertainties and external disturbances are applied. The simulations for an ABHV model with modeling uncertainties, wind gust, and measuring noises are presented to demonstrate the capacity and reliability of this proposed method.

关键词： Flight control NDI Robustness Hypersonic ABHV Multiple time scale

Nonlinear dynamics and station-keeping control of a rotating tethered satellite system in halo orbits

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Chinese Journal of Aeronautics 2013年第5期26卷 1227-1237页

作者： Liu Gang Huang Jing ma guangfu Li Chuanjiang Department of Control Science and Engineering Harbin Institute of Technology

The dynamics of a rotating tethered satellite system （TSS） in the vicinity of libration points are highly nonlinear and inherently unstable. In order to fulfill the station-keep control of the rotating TSS along halo orbits, a nonlinear output tracking control scheme based on the θ- D technique is proposed. Compared with the popular time-variant linear quadratic regulator （LQR） controller, this approach overcomes some limitations such as on-line computations of the algebraic Riccati equation. Besides, the obtained nonlinear suboptimal controller is in a closed form and easy to implement. Numerical simulations show that the TTS trajectories track the periodic reference orbit with low energy consumption in the presence of both tether and initial injection errors. The axis of rotation can keep pointing to an inertial specific object to fulfill an observation mission. In addition, the thrusts required by the controller are in an acceptable range and can be implemented through some low-thrust propulsion devices.

关键词： Halo orbit Restricted three-body problem Station-keeping control Suboptimal control Tethered satellite system

Three-dimensional finite-time cooperative guidance for multiple missiles without radial velocity measurements

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Chinese Journal of Aeronautics 2019年第5期32卷 1294-1304页

作者： Teng LYU Chuanjiang LI Yanning GUO guangfu ma Department of Control Science and Engineering Harbin Institute of Technology

In order to simultaneously attack a target with impact angle constraint in threedimensional(3-D) space, a novel distributed cooperative guidance law for multiple missiles under directed communication topologies is proposed without radial velocity measurements. First, based on missiles-target 3-D relative motion equations, the multiple missiles cooperative guidance model with impact angle constraint is constructed. Then, in Line-of-Sight(LOS) direction, based on multiagent system cooperative control theory, one guidance law with directed topologies is designed with strict proof, which can guarantee finite time consensus of multiple missiles' impact times. Next, in elevation direction and azimuth direction of LOS, based on homogeneous system stability theory and integral sliding mode control theory, two guidance laws are proposed respectively with strict proof, which can guarantee LOS angles converge to desired values and LOS angular rates converge to zero in finite time. Finally, the effectiveness of the designed cooperative guidance law is demonstrated through simulation results.

关键词： 3-D cooperative guidance Directed communication topologies Finite time Impact angle constraint Radial velocity measurements

Data-driven model-free adaptive attitude control of partially constrained combined spacecraft with external disturbances and input saturation

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Chinese Journal of Aeronautics 2019年第5期32卷 1281-1293页

作者： Han GAO guangfu ma Yueyong LYU Yanning GUO Department of Control Science and Control Engineering Harbin Institute of Technology

This study presents an improved data-driven Model-Free Adaptive Control(MFAC)strategy for attitude stabilization of a partially constrained combined spacecraft with external disturbances and input saturation. First, a novel dynamic linearization data model for the partially constrained combined spacecraft with external disturbances is established. The generalized disturbances composed of external disturbances and dynamic linearization errors are then reconstructed by a Discrete Extended State Observer(DESO). With the dynamic linearization data model and reconstructed information, a DESO-MFAC strategy for the combined spacecraft is proposed based only on input and output data. Next, the input saturation is overcome by introducing an antiwindup compensator. Finally, numerical simulations are carried out to demonstrate the effectiveness and feasibility of the proposed controller when the dynamic properties of the partially constrained combined spacecraft are completely unknown.

关键词： Attitude control Combined spacecraft Data-driven control Discrete Extended State Observer(DESO) Input saturation

Finite-time attitude tracking control for spacecraft without angular velocity measurements

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Journal of Systems Engineering and Electronics 2017年第6期28卷 1174-1185页

作者： Li Yuan guangfu ma Chuanjiang Li Boyan Jiang Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China

The output feedback control for spacecraft attitude tracking system is investigated in this study. It is assumed that angular velocity measurements are not available for feedback control.A technique named adding power integrator(API) is adopted to estimate the pseudo-angular-velocity. Then we design a finite-time attitude control law, which only utilizes the relative attitude information. The stability analyses of the feedback system are proved as well, which shows the attitude tracking errors will converge into a region of zero even the external disturbances exist. The simulation results illustrate the high precision and robust attitude control performance of the proposed control strategy.

关键词： output feedback spacecraft attitude stabilization finite-time control

Attitude control without angular velocity measurement for flexible satellites

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Chinese Journal of Aeronautics 2018年第6期31卷 1345-1351页

作者： Qinghua ZHU guangfu ma Xiaoting WANG Aiguo WU Department of Control Science and Control Engineering Harbin Institute of Technology Harbin 150001 China Shanghai Aerospace Control Technology Institute Shanghai 201109 China Harbin Institute of Technology Shenzhen Graduate School Shenzhen 518055 China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai 201109 China

In this paper, by using quaternion models, the problem of attitude control is investigated for a class of flexible satellites. Two control laws are presented for the considered flexible satellite models to guarantee convergence of the closed-loop systems without using angular velocity measurement. One is in the form of a partial state feedback for the case where the modal variable is available, and the other is in the form of an observer-based partial state feedback for the case where the modal variable cannot be measured. Finally, an example is employed to illustrate the effectiveness of the proposed control laws.

关键词： Attitude control Flexible satellites Modal variables Quaternion models Passivity

Fast fixed-time three-dimensional terminal guidance with non-concave trajectory constraint

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Chinese Journal of Aeronautics 2024年第3期37卷 208-218页

作者： Youmin GONG Yanning GUO Yueyong LYU Dongyu LI guangfu ma Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China School of Cyber Science and Technology Beihang UniversityBeijing 100191China

Focusing on the non-concave trajectory constraint,a sliding-mode-based nonsingular feedback fast fixed-time three-dimensional terminal guidance of rotor unmanned aerial vehicle landing,planetary landing and spacecraft rendezvous and docking terminal phase with external disturbance is investigated in this ***,a fixed-time observer based on real-time differentiator is developed to compensate for the external disturbance,whose estimation error can converge to zero after a time independent of the initial ***,a sliding surface ensuring fixed-time convergence is *** sliding surface can guarantee that the vehicle achieves a non-concave trajectory,which is better for avoiding collision and maintaining the visibility of the landing site or docking ***,the nonsingular guidance ensuring the fixed-time convergence of the sliding surface is proposed,which is continuous and chatter *** last,three numerical simulations of mars landing are performed to validate the effectiveness and correctness of the designed scheme.

关键词： Three-dimensional Terminal guidance Non-concave trajectory constraint Fast fixed-time control Sliding mode control

Spacecraft formation-containment flying control with time-varying translational velocity

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Chinese Journal of Aeronautics 2020年第1期33卷 271-281页

作者： Liangming CHEN Chuanjiang LI Yanning GUO guangfu ma Baolong ZHU Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China School of Electrical Engineering and Automation Qilu University of Technology(Shandong Academy of Sciences)Jinan 250353China

This paper investigates the problem of Spacecraft Formation-Containment Flying Control(SFCFC)when the desired translational velocity is *** SFCFC problem,there are multiple leader spacecraft and multiple follower spacecraft and SFCFC can be divided into leader spacecraft’s formation control and follower spacecraft’s containment ***,under the condition that only a part of leader spacecraft can have access to the desired time-varying translational velocity,a velocity estimator is designed for each leader ***,based on the estimated translational velocity,a distributed formation control algorithm is designed for leader spacecraft to achieve the desired formation and move with the desired translational velocity ***,to ensure all follower spacecraft converge to the convex hull formed by the leader spacecraft,a distributed containment control algorithm is designed for follower ***,to reduce the dependence of the designed control algorithms on the graph information and increase system robustness,the control gains are changing adaptively and the parametric uncertainties are handled,***,simulation results are provided to illustrate the effectiveness of the theoretical results.

关键词： Adaptive gain technique Distributed control Formation-containment Formation control Spacecraft formation flying