基于port-Hamiltonian系统的航天器集群高精度分布式控制方法研究

下一代分布式空间系统任务提出了以数十个或更多航天器组成集群，并实施高精度相对位置和姿态协同控制的要求。大规模集群控制难以集中式实现，以局部交互实施分布式控制成为必须。在控制器设计中采用高逼真度动力学模型是实现高精度控制的要求，也是减小由于模型误差引起的燃料消耗的需要。本项目基于port-Hamiltonian（pH）系统理论，利用其能量方法对复杂动力学系统的普适性，以及其网络化互联特征在分布式控制中的优势，解决复杂高逼真度动力学模型下航天器集群高精度分布式控制的难题。项目将构形设计与跟踪控制统一在高逼真度pH系统模型基础上，实现低燃料消耗、高精度地保持自然构形；通过网络化虚拟耦合、能量整形和积分作用等实现集群非自然构形的高精度分布式控制；采用pH系统建模与控制方法，实现包含飞轮动力学耦合的航天器集群姿态高精度分布式协同控制。研究工作将为高精度分布式空间系统集群协同控制提供新的有效理论方法。

Distributed space systems of the next generation put forward requirements of the use of tens or more spacecraft as a swarm and implementing high precision relative position and attitude control. It is difficult to implement coordinated control for large swarms in a centralized manner, and distributed control with local interaction becomes a must. To realize high control precision, it is necessary to use high fidelity model of the system dynamics in controller design. The use of high fidelity model is also important for reducing the fuel consumption caused by the model error in control. This research solves the difficult problem of high-precision distributed control of spacecraft swarms based on the port-Hamiltonian (pH) systems theory. The generality of the energy mechanism of the pH systems facilities the modeling and control of complex dynamical system, and the networked interconnection nature of the pH systems makes the pH control theory advantageous in distributed control. This research unifies the formation design and the formation tracking control on the basis of the same high fidelity pH model of the system dynamics, thus is able to keep natural formations in high precision with low fuel consumption. Non-natural formations are controlled distributedly with high precision through networked virtual coupling, energy shaping, and integral action. Considering the dynamics of the internal actuated flying wheels of the swarm spacecraft, the problem of high-precision distributed coordination and control of the spacecraft attitude is handled using the modeling and control theory of the pH systems. The research provides novel and effective theoretical methods for the coordination and control of high-precision distributed space systems.