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A simple method to design non-collision relative orbits for close spacecraft formation flying

Science China(Physics,Mechanics & Astronomy) 2018年第5期61卷 20-35页

作者： Wei Jiang JunFeng Li FangHua Jiang Franco Bernelli-Zazzera School of Aerospace Engineering Tsinghua University Department of Aerospace Science and Technology Politecnico di Milano

A set of linearized relative motion equations of spacecraft flying on unperturbed elliptical orbits are specialized for particular cases, where the leader orbit is circular or equatorial. Based on these extended equations, we are able to analyze the relative motion regulation between a pair of spacecraft flying on arbitrary unperturbed orbits with the same semi-major axis in close formation. Given the initial orbital elements of the leader, this paper presents a simple way to design initial relative orbital elements of close spacecraft with the same semi-major axis, thus preventing collision under non-perturbed conditions. Considering the mean influence of J_2 perturbation, namely secular J_2 perturbation, we derive the mean derivatives of orbital element differences, and then expand them to first order. Thus the first order expansion of orbital element differences can be added to the relative motion equations for further analysis. For a pair of spacecraft that will never collide under non-perturbed situations, we present a simple method to determine whether a collision will occur when J_2 perturbation is considered. Examples are given to prove the validity of the extended relative motion equations and to illustrate how the methods presented can be used. The simple method for designing initial relative orbital elements proposed here could be helpful to the preliminary design of the relative orbital elements between spacecraft in a close formation, when collision avoidance is necessary.

关键词： spacecraft formation relative motion collision avoidance orbit designing

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Cooperative Angles-Only Relative Navigation Algorithm for Multi-spacecraft formation in Close-Range

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工程与科学中的计算机建模（英文） 2023年第1期134卷 121-134页

作者： Sha Wang Chenglong He Baichun Gong Xin Ding Yanhua Yuan State Key Laboratory of Satellite Navigation System and Equipment Technology Shijiazhuang050081China Nanjing University of Aeronautics and Astronautics Nanjing210016China Beijing Institute of Control and Electronic Technology Beijing100038China

As to solve the collaborative relative navigation problem for near-circular orbiting small satellites in close-range under GNSS denied environment,a novel consensus constrained relative navigation algorithm based on the lever arm effect of the sensor offset from the spacecraft center of mass is ***,the orbital propagation model for the relative motion of multi-spacecraft is established based on Hill-Clohessy-Wiltshire dynamics and the line-of-sight measurement under sensor offset condition is modeled in Local Vertical Local Horizontal ***,the consensus constraint model for the relative orbit state is constructed by introducing the geometry constraint between the spacecraft,based on which the consensus unscented Kalman filter is ***,the observability analysis is done and the necessary conditions of the sensor offset to make the state observable are ***,digital simulations are conducted to verify the proposed algorithm,where the comparison to the unconstrained case is also *** results show that the estimated error of the relative position converges very quickly,the location error is smaller than 10m under the condition of 10−3 rad level camera and 5m offset.

关键词： Relative navigation spacecraft formation observability analysis angles-only measurement

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Attitude Coordinated Control for spacecraft formation with Measurement Uncertainties

Attitude Coordinated Control for Spacecraft Formation with M...

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第40届中国控制会议

作者： Jian Zhang Wenjie Wu Long Liu Wen-bo Xie College of Power and Energy Engineering Harbin Engineering University College of Automation Harbin University of Science and Technology

This paper investigates attitude coordinated control scheme for spacecraft formation under an undirected topology, in which attitude and angular velocity measurement errors of each individual are considered simultaneously. The measurement bias of attitude and angular velocity are regarded as mismatched and matched disturbances acting on the attitude control system from distinct channel. For handling this problem, backstepping control method is utilized in the steps of kinematic and dynamic analysis. Moreover, adaptive control technique is incorporated to compensate the uncertainties. Rigorous analysis shows that the system trajectories converge to a small set around the equilibrium even under the circumstance of measurement bias. Finally,simulation results valid the effectiveness of the proposed control scheme.

关键词： spacecraft formation Attitude control Backstepping control Measurement uncertainties

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Decentralized H∞ control for attitude coordination of spacecraft formation

Decentralized H∞ control for attitude coordination of space...

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第36届中国控制会议

作者： Pingli Lu Gang Liu Xiangdong Liu School of Automation Beijing Institute of Technology

In this paper, a robust H decentralized controller is proposed for attitude coordination of spacecraft formation flying with external disturbance based on the relative attitudes and angular velocities of neighboring spacecraft. The controller is composed of nonlinear terms for performance enhancement and linear terms for attitude coordination and stabilization. The proposed control method guarantees the attitude alignment with zero final angular velocity and robust disturbance attenuation for spacecraft formation when the communication topology is connected. A feature of the proposed approach is that the robust Hcontroller parameters can be obtained by solving linear matrix inequalities(LMIs), which makes the design more ***, the numerical simulations of a spacecraft formation are provided to show the effectiveness of the proposed consensus algorithm.

关键词： Attitude coordination linear matrix inequality nonlinear H∞ control multiple spacecraft spacecraft formation

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Cascade Control of spacecraft formation with Actuator Saturation

Cascade Control of Spacecraft Formation with Actuator Satura...

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第三十九届中国控制会议

作者： Shihang Cui Yong Li Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

In this paper, a dynamic model for leader-follower spacecraft formation is established, and based on the cascade control theory, the attitude control of the leader spacecraft and the relative position control between the leader and the follower spacecraft are considered. Then, the stability of the whole system is proved according to the stability theory of cascade system. Finally, the actuator saturation of the follower spacecraft is considered, and simulation shows that the whole system is asymptotic stable.

关键词： spacecraft formation cascade control actuator saturation

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Fault Tolerant Control with TSM for spacecraft formation Flying

Fault Tolerant Control with TSM for Spacecraft Formation Fly...

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2015年中国智能自动化学术会议

作者： Xiaoyu Han Yingmin Jia The Seventh Research Division and the Department of Systems and Control Beijing University of Aeronautics and Astronautics

In this paper,a fault tolerant-based adaptive terminal sliding mode(TSM) control method is proposed for leader–follower spacecraft formation flying system in the presence of actuator *** external disturbances and minimum fault information are adapted online and the great robustness is *** has been proved that with this designed controller,the practical finite-time stability(PFS) of the closed-loop system can be *** results show the effectiveness of the proposed method.

关键词： Fault tolerant control spacecraft formation Terminal sliding mode Adaptive control

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Cascade Control of spacecraft formation with Communication Delay

Cascade Control of Spacecraft Formation with Communication D...

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第40届中国控制会议

作者： Shihang Cui Yong Li Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

The leader-follower spacecraft formation control problem is investigated in this paper. The formation dynamic model under the circular restricted three-body problem is proposed, the attitude control algorithm of the leader spacecraft, and the relative position control algorithm of the leader-follower are established. By considering the communication delay between the leader and the follower, a new control algorithm is proposed. Finally, simulation results show the effectiveness of these algorithms.

关键词： Cascade control spacecraft formation communication delay

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Decentralized attitude synchronization tracking control for multiple spacecraft under directed communication topology

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Chinese Journal of Aeronautics 2016年第4期29卷 995-1006页

作者： Zheng Zhong Xu Ying Zhang Lisong Song Shenmin College of Astronautics Nanjing University of Aeronautics and Astronautics Science and Technology on Information System Engineering Laboratory Jiangxi Ship Sailing Instrument Co.Ltd Center for Control Theory and Guidance Technology Harbin Institute of Technology

This paper studies the attitude synchronization tracking control of spacecraft formation flying with a directed communication topology and presents three different controllers. By introducing a novel error variable associated with rotation matrix, a decentralized attitude synchronization controller, which could obtain almost global asymptotical stability of the closed-loop system, is developed. Then, considering model uncertainties and unknown external disturbances, we propose a robust adaptive attitude synchronization controller by designing adaptive laws to estimate the unknown parameters. After that, the third controller is proposed by extending this method to the case of time-varying communication delays via Lyapunov-Krasovskii analysis. The distinctive feature of this work is to address attitude coordinated control with model uncertainties, unknown disturbances and time-varying delays in a decentralized framework, with a strongly connected directed information flow. It is shown that tracking and synchronization of an arbitrary desired attitude can be achieved when the stability condition is satisfied. Simulation results are provided to demonstrate the effectiveness of the proposed control schemes. (C) 2016 Production and hosting by Elsevier Ltd. on behalf of Chinese Society of Aeronautics and Astronautics. This is an open access article under the CC BY-NC-ND license.

关键词： Attitude synchronization Directed topology Lyapunov stability spacecraft formation Time delays

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Model-based Coordination Control of Networked spacecraft formations by Integrator Backstepping

Model-based Coordination Control of Networked Spacecraft For...

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第三十届中国控制会议

作者： KUMAR K.D. Department of Aerospace Engineering Ryerson University350 Victoria Street TorontoON M5B 2K3 Canada

＜正＞In this paper,based on the leader-follower formation architecture,we propose a tracking control scheme for spacecraft formation flying in the framework of networked control systems（NCSs） with time-varying network access intervals.A continuous-time representation of the NCS is considered to model the relative translational motion of the follower spacecraft relative to the leader spacecraft.A model-based controller combined with backstepping technique is developed to guarantee uniformly ultimate boundedness（UUB） of the relative position and velocity tracking errors in the semiglobal *** adjustable parameter with respect to which semiglobal UUB is achieved is the network access deadline between transmission *** simulations are presented to demonstrate the effectiveness of the developed controller.

关键词： spacecraft formation Networked control systems(NCSs) Model-based control Backstepping Uniformly ultimately bounded(UUB)

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A Modified Extend Kalman Particle Filter with Application to Relative navigation

A Modified Extend Kalman Particle Filter with Application to...

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第三届中国卫星导航学术年会

作者： Xiaoliang Wang*, Lixin Zhang, Xiaoping Qian, Qibing Xu, Yansong Meng, Zhe Su Institute of Satellite Navigation and Intra-Satellite-Link Technology, Academy of Space Electronic Information Technology

To improve the accuracy of relative navigation for spacecraft formation flying in eccentric orbits, precise relative motion equation was used and Carrier-phase Difference GPS technology was adopted for relative information measurement. A modified version of Extended Kalman Particle Filter algorithm, called MEKPF, was used for navigation filter design. Simulation results provided later indicate the proposed navigation approach can provide an accuracy and consistent relative navigation output for spacecraft formation flying.

关键词： spacecraft formation relative navigation global position system Kalman filter particle filter

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