Research On Consensus-based Cooperative Control Of Spacecraft Formation

The spacecraft formation system which could enable large numbers of uncomplicated and inexpensive spacecrafts to work cooperatively to accomplish complex aerospace missions which a giant one even can't has gotten the international aerospace academics'interest in resent decade. The most pivotal and difficult technology to achieve the spacecraft formation is the cooperative control on which there isn't successful experience. A kind of state-based variable-weighted consensus algorithms whose weights could be designed for some specific purposes has been proposed in this dissertation by undirected graphs. This paper accomplished two aerospace missions considering collision avoidance during spacecraft formation initialization and limited opposite directions during synchronizing attitudes utilizing the consensus algorithms. The innovations this paper make are following.A kind of stated-based weighted consensus (SBWC) algorithms has been proposed to improve the performance of the steady-weighted consensus algorithms for double-integrator dynamics systems. The demands of the weights have been given through the analysis of the system consensus. For a fixed Leader case and a Leaderless case, the double-integrator consensus algorithms have been proposed utilizing the artificial potential functions. The consensus has been proved by LaSalle's Invariance principle. The simulation results are provided to demonstrate the algorithms'performance.A distributed hierarchical control structure constituting of Hungarian algorithm based task assignment and SBWC based cooperative control for spacecrafts initialization has been proposed. A kind of artificial potential function anti-interrelated with spacecrafts'relative positions has been constructed. Then a SBWC based cooperative control law has been proposed to avoid the collision during spacecrafts initialization. Finally the collision avoidance mechanism has been demonstrated by simulation results.There are constraint conditions of relative orientation in laser/vision based relative states measurement systems. To satisfy the constraint during spacecrafts attitudes synchronization, a SBWC based cooperative control law has been proposed and the weights interrelated with relative attitudes have been given. This law has been proved by LaSalle'Invariance principle and demonstrated by simulation results.