Cyclic Pursuit for Spacecraft Formation Control
Cyclic Pursuit for Spacecraft Formation Control
复制标题
航天器编队控制的循环追踪
DOI：
--
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Emilio Frazzoli
中科院分区：
文献类型：
--
作者：
J. Ramirez;M. Pavone;Emilio Frazzoli
在本文中，我们基于循环追踪的简单思想，提出了航天器编队的分散控制策略。首先，我们将现有的为单积分器设计的循环追踪控制律扩展到双积分器。这种动态扩展的控制律只需要对两个主要邻居的位置和速度进行相对测量，并允许航天器在三个维度上全局收敛到单点、圆或对数螺旋图案，具体取决于控制参数的值。其次，我们修改上述控制定律，以允许收敛到三个维度的椭圆轨迹，这些轨迹代表绕地球旋转框架中航天器之间相对运动的自然轨迹。最后，我们讨论了所设计的控制律对干涉成像航天器协调问题的适用性，以及它们在 4DOF 测试台上的实现。
In this paper we present decentralized control policies for spacecraft formation, based on the simple idea of cyclic pursuit. First, we extend the existing cyclic-pursuit control laws devised for a single integrator to a double integrator. Such dynamically extended control laws only require relative measurements of position and velocity of two leading neighbors, and allow spacecraft to converge, globally in three dimensions, to a single point, a circle or a logarithmic spiral pattern, depending on the value of a control parameter. Second, we modify the aforementioned control laws to allow convergence to elliptical trajectories in three dimensions, that represent natural trajectories of the relative motion between spacecraft in a rotating frame around the earth. Finally, we discuss the applicability of the devised control laws to the problem of spacecraft coordination for interferometric imaging, and their implementation on a 4DOF testbed.