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通过引入一致性理论针对电磁航天器编队相对位置协同控制问题设计了自适应协同控制器。分析了电磁航天器编队的基本原理,建立了电磁航天器编队相对运动精确的非线性动力学方程。基于电磁力远场计算模型的不确定性,对相对运动动力学模型进行了修正。在电磁力计算模型不确定和航天器间存在通信时延的条件下,对位置跟踪控制的目标设计了自适应协同控制器。考虑到电磁航天器磁矩产生能力的不同,给出了通过优化进行磁矩分配的方案。通过仿真表明:所设计的自适应协同控制器不仅实现了对期望轨迹的准确跟踪,而且相比人工势函数法,暂态维持编队构型的能力提高了4.9倍,并且所给出的磁矩分配方案实现了磁矩的合理分配。
By introducing the theory of consistency, an adaptive cooperative controller is designed for the coordinated control of relative positions of electromagnetic spacecraft formation. The basic principle of formation of electromagnetic spacecraft is analyzed, and the exact nonlinear dynamic equation of relative formation of electromagnetic spacecraft formation is established. Based on the uncertainty of the far-field calculation model of electromagnetic force, the relative kinematic model was modified. Under the condition of uncertainty of electromagnetic force calculation model and communication delay between spacecraft, an adaptive cooperative controller is designed for the target of position tracking control. Considering the difference of the magnetic moment of the electromagnetic spacecraft, the scheme of optimizing the magnetic moment distribution is given. The simulation results show that the designed adaptive cooperative controller not only realizes the accurate tracking of the desired trajectory, but also improves the ability of transient formation maintenance compared with the artificial potential function method, and the magnetic moment Distribution scheme to achieve a reasonable allocation of magnetic moments.