CN111781828B - Spacecraft cluster control method based on adaptive nonsingular terminal sliding mode control - Google Patents
Spacecraft cluster control method based on adaptive nonsingular terminal sliding mode control Download PDFInfo
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Abstract
The invention discloses a spacecraft cluster control method based on self-adaptive nonsingular terminal sliding mode control. The method is used for realizing the flight control of the spacecraft cluster and comprises the following steps: establishing a coordinate system, establishing a mixed Gaussian model, establishing a self-adaptive artificial potential energy function, determining a nonsingular terminal sliding mode control sliding mode surface, and determining a control law of nonsingular terminal sliding mode control. According to the method, the outer envelope of the target spacecraft is analyzed and described by using the Gaussian mixture model, the self-adaptive artificial potential energy function of uncertain environment factors and the influence of the appearance of the target spacecraft is established based on the Gaussian mixture model, and then the control law of the nonsingular terminal sliding mode control corresponding to the tracking spacecraft is determined by combining the nonsingular terminal sliding mode control and PID control calculation based on the self-adaptive artificial potential energy function so as to control the tracking reference track of the tracking spacecraft.
Description
Technical Field
The invention relates to the technical field of spacecraft motion control, in particular to a spacecraft cluster control method based on adaptive nonsingular terminal sliding mode control.
Background
In recent years, the number of on-orbit failure events of a spacecraft is increasing, in order to reduce the occurrence probability of the on-orbit failure events, prolong the working life of the spacecraft and improve the working performance, more and more on-orbit services are applied to the spacecraft, the close-range operation of the spacecraft is taken as a basic technology supporting the on-orbit services, and the close-range operation of the spacecraft needs to meet strict safety requirements.
With the continuous improvement of space development and application capability, a large number of spacecrafts facing various task requirements are developed and launched in succession in various countries, the structure and the composition of the spacecrafts are increasingly complex, and the technical level is continuously improved; for example, a spacecraft cluster which is composed of a plurality of closely flying spacecrafts and is used for completing a certain common task has the advantages of high flexibility, time and space coverage, high reliability, survivability and the like, and therefore the spacecraft cluster has a wider application range.
In order to ensure the safety of a spacecraft, in the process of spacecraft cluster flight, the influence of the shape of the spacecraft on the spacecraft cluster flight needs to be considered, in the current spacecraft cluster flight control process, the geometric shape of the spacecraft is usually simplified into a spherical shape or an ellipsoidal shape, but in engineering practice, the geometric shape of most spacecrafts is not a simple spherical shape or an ellipsoidal shape, and in near field operation, different geometric shapes of the spacecraft have different influences on safety control. Meanwhile, in the process of spacecraft motion, due to the fact that the knowledge of the orbit environment of the spacecraft is insufficient to a certain degree and the deviation generated by the system or equipment of the spacecraft exists, the spacecraft can be influenced by uncertain factors to a certain degree.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a spacecraft cluster control method based on adaptive nonsingular terminal sliding mode control.
Therefore, the invention discloses a spacecraft cluster control method based on adaptive nonsingular terminal sliding mode control, which is used for realizing flight control of a target spacecraft and a tracking spacecraft in a spacecraft cluster, and comprises the following steps:
establishing a coordinate system: establishing an epoch J2000 earth inertia coordinate system, and establishing an orbit coordinate system of the target spacecraft on the basis of the earth inertia coordinate system;
establishing a mixed Gaussian model: acquiring position information of a plurality of characteristic points on the surface of the target spacecraft, and establishing a Gaussian mixture model of the outer envelope surface of the target spacecraft based on the position information of the plurality of characteristic points;
establishing an adaptive artificial potential energy function: based on a Gaussian mixture model, establishing a self-adaptive artificial potential energy function by combining an expected relative position of a tracked spacecraft and uncertainty factor parameters;
determining a nonsingular terminal sliding mode control sliding mode surface: determining a nonsingular terminal sliding mode control sliding mode surface corresponding to the tracking spacecraft by using a self-adaptive artificial potential energy function and nonsingular terminal sliding mode control;
determining a control law of nonsingular terminal sliding mode control: and calculating and determining a control law of the nonsingular terminal sliding mode control corresponding to the tracking spacecraft according to the nonsingular terminal sliding mode control sliding mode surface and the PID control.
Further, in the spacecraft cluster control method based on adaptive nonsingular terminal sliding mode control, establishing a coordinate system includes:
by using O-XIYIZIRepresenting epoch J2000 earth inertial coordinate system with earth center as origin of coordinates, XIThe axis points to epoch J2000 spring minute point, the earth equator plane is the basic plane, ZIAxial direction to the Earth's North Pole, YIAxis and XIAxis, ZIThe axes form a right-hand rectangular coordinate system;
the orbit coordinate system of the target spacecraft is represented by o-xyz, the centroid of the target spacecraft is a coordinate origin, the x axis points to the centroid of the target spacecraft from the earth geocentric, the y axis is perpendicular to the x axis in the orbit plane of the target spacecraft and points to the speed direction of the target spacecraft, the z axis is perpendicular to the orbit plane of the target spacecraft, and the z axis, the x axis and the y axis form a right-hand rectangular coordinate system.
Further, in the spacecraft clustering control method based on adaptive nonsingular terminal sliding mode control, the outer envelope of the target spacecraft described by the feature points on the surface of the target spacecraft is assumed to be composed of K1Fitting a Gaussian mixture model of the Gaussian components, and expressing the probability density distribution function of the Gaussian mixture model of the outer envelope surface of the target spacecraft as follows:
wherein p (Z | Θ) represents a probability density distribution function of the gaussian mixture model, and Θ represents a probability density distribution function included in the gaussian mixture modelA set of variables of the parameters is set,
k-th gaussian function component, z, representing a mixture of gaussian modelsiDenotes the ith feature point, zi＝[xi,yi,zi]T，xi、yiAnd ziRespectively representing the coordinate information of the ith characteristic point in the x direction, the y direction and the z direction of the track coordinate system,
representing the expected value of the kth gaussian function component in the hybrid gaussian model,
covariance matrix representing k-th gaussian function component in mixed gaussian model, r ═ x, y, z]TRepresenting the relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft, x, y and z representing the coordinates of the tracking spacecraft in the x direction, the y direction and the z direction of the orbital coordinate system, respectively, and pikRepresents the k-th Gaussian function component of the Gaussian mixture model, pi is the circumferential ratio, e is the natural logarithm,
representing a 3x3 matrix.
Further, in the spacecraft clustering control method based on adaptive nonsingular terminal sliding mode control, an adaptive artificial potential energy function based on a mixed gaussian model is represented as:
wherein the content of the first and second substances,
represents an adaptive artificial potential energy function, and r is [ x, y, z ]]TRepresenting the relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft, rf＝[xf,yf,zf]TRepresenting the expected relative position, x, of the tracking spacecraft in the orbital coordinate system of the target spacecraftf、yfAnd zfRespectively representing expected coordinates of the tracked spacecraft in the x direction, the y direction and the z direction of an orbit coordinate system, wherein pi is a circumferential rate, e is a natural logarithm, and pi isjRepresenting the jth Gaussian function component, Σ, of the Gaussian mixture modeljCovariance matrix, mu, representing the jth Gaussian function component in the Gaussian mixture modeljAnd expressing the expectation value of the jth Gaussian function component in the mixed Gaussian model, W expressing a conversion matrix, P expressing a semi-positive definite matrix and M expressing the semi-positive definite matrix.
Further, in the spacecraft clustering control method based on the adaptive nonsingular terminal sliding mode control, the adaptive artificial potential energy function and the nonsingular terminal sliding mode control are combined, and the nonsingular terminal sliding mode control sliding mode surface corresponding to the tracked spacecraft is represented as:
wherein S ═ S1 S2 S3]TRepresenting the slip form face, S1、S2And S3Representing a sliding mode surface parameter, ksA semi-positive definite matrix is represented,
representing an adaptive artificial potential energy function based on a Gaussian mixture model
The gradient is calculated for the relative position r of the tracked spacecraft, e-rf，
r＝[x,y,z]TRepresenting the relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft, rf＝[xf,yf,zf]TRepresentation tracking spacecraftThe desired relative position in the orbital coordinate system of the target spacecraft,
representing the relative velocity of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
representing the desired relative velocity of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
is a positive definite matrix, ξ11、ξ12And xi13In order to positively determine the parameters of the matrix,
is a positive definite matrix, ξ21、ξ22And xi23For positively determining the matrix parameter, xi0And tau are positive auxiliary parameters, 0 < xi0< 1,. tau. > 1, p and q are both positive and odd numbers, 1<p/q。
Further, in the method for spacecraft cluster control based on adaptive nonsingular terminal sliding mode control, determining the control law of the nonsingular terminal sliding mode control includes:
improving a nonsingular terminal sliding mode control sliding mode surface corresponding to the tracking spacecraft by using PID control to obtain a nonsingular terminal sliding mode control sliding mode surface under the PID control;
and calculating and determining a control law of nonsingular terminal sliding mode control corresponding to the tracking spacecraft by utilizing the nonsingular terminal sliding mode control sliding mode surface under the PID control.
Further, in the spacecraft clustering control method based on adaptive nonsingular terminal sliding mode control, the nonsingular terminal sliding mode control sliding mode surface under PID control is represented as:
wherein S isGaPNRepresents nonsingular terminal sliding mode control sliding mode surface under PID control, S ═ S1 S2 S3]TRepresenting the slip form face, S1、S2And S3Representing a parameter of the slip form, KpDenotes the proportionality constant, KiDenotes the integration constant, KdRepresenting a differential constant and t a time variable.
Further, in the spacecraft cluster control method based on the adaptive nonsingular terminal sliding mode control, a control law of the nonsingular terminal sliding mode control corresponding to the tracked spacecraft is calculated and determined according to the following formula 9;
wherein each parameter in formula 9 is determined by calculation using formula 10-formula 20;
ur＝(Γ+a0)sign(S) (12)
|e|τ-1＝((x-xf)τ-1,(y-yf)τ-1,(z-zf)τ-1)T (14)
uGaPNrepresents the control law, a0Is constant, Γ is a normal number, sign (·) represents a sign function,
representing the expected relative acceleration, ω and
respectively representing the angular velocity and angular acceleration of the target spacecraft, mu representing the earth's gravitational constant, a and n representing the orbit major semi-axis and average angular velocity of the target spacecraft,
scalar rtAnd rfRespectively representing the relative distance between the target spacecraft and the earth mass center, f representing the true perigee angle of the target spacecraft, and E representing the orbital eccentricity of the target spacecraft.
The technical scheme of the invention has the following main advantages:
according to the spacecraft cluster control method based on the adaptive nonsingular terminal sliding mode control, the outer envelope of the target spacecraft is analyzed and described by utilizing the Gaussian mixture model, the adaptive artificial potential energy function of uncertain environmental factor influence and target spacecraft appearance influence is established based on the Gaussian mixture model, then the control law of the nonsingular terminal sliding mode control corresponding to the tracking spacecraft is determined based on the adaptive artificial potential energy function and combined with the nonsingular terminal sliding mode control and PID control calculation, so that the tracking reference trajectory of the tracking spacecraft is controlled, the influence of the complex appearance of the spacecraft and the influence of the uncertain environmental factor can be considered at the same time, the control precision and the adaptability are higher, fuel can be effectively saved, and the singular problem is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a spacecraft clustering control method based on adaptive nonsingular terminal sliding mode control according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a coordinate system according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a spacecraft cluster control method based on adaptive nonsingular terminal sliding mode control, where the method is used to implement flight control of a target spacecraft and a tracking spacecraft in a spacecraft cluster, and the method includes the following steps:
establishing a coordinate system: establishing an epoch J2000 earth inertia coordinate system, and establishing an orbit coordinate system of the target spacecraft on the basis of the earth inertia coordinate system;
establishing a mixed Gaussian model: acquiring position information of a plurality of characteristic points on the surface of the target spacecraft, and establishing a Gaussian mixture model of the outer envelope surface of the target spacecraft based on the position information of the plurality of characteristic points;
establishing an adaptive artificial potential energy function: based on a Gaussian mixture model, establishing a self-adaptive artificial potential energy function by combining an expected relative position of a tracked spacecraft and uncertainty factor parameters;
determining a nonsingular terminal sliding mode control sliding mode surface: determining a nonsingular terminal sliding mode control sliding mode surface corresponding to the tracking spacecraft by using a self-adaptive artificial potential energy function and nonsingular terminal sliding mode control;
determining a control law of nonsingular terminal sliding mode control: and calculating and determining a control law of nonsingular terminal sliding mode control corresponding to the tracking spacecraft according to the nonsingular terminal sliding mode control sliding mode surface and PID control (proportional-integral-derivative control).
Specifically, each step in the spacecraft clustering control method based on adaptive nonsingular terminal sliding mode control according to an embodiment of the present invention is specifically described below.
(1) Establishing a coordinate system
In the spacecraft clustering control method based on adaptive nonsingular terminal sliding mode control according to an embodiment of the present invention, as shown in fig. 2, establishing a coordinate system includes:
by using O-XIYIZIRepresenting epoch J2000 earth inertial coordinate system with earth center as origin of coordinates, XIThe axis points to epoch J2000 spring minute point, the earth equator plane is the basic plane, ZIAxial direction to the Earth's North Pole, YIAxis and XIAxis, ZIThe axes form a right-hand rectangular coordinate system;
the orbit coordinate system of the target spacecraft is represented by o-xyz, the centroid of the target spacecraft is a coordinate origin, the x axis points to the centroid of the target spacecraft from the earth geocentric, the y axis is perpendicular to the x axis in the orbit plane of the target spacecraft and points to the speed direction of the target spacecraft, the z axis is perpendicular to the orbit plane of the target spacecraft, and the z axis, the x axis and the y axis form a right-hand rectangular coordinate system.
(2) Establishing a hybrid Gaussian model
Acquiring position information of a plurality of characteristic points on the surface of a target spacecraft by using a sensor, and establishing a Gaussian mixture model of the outer envelope surface of the target spacecraft based on the acquired position information of the plurality of characteristic points on the surface of the target spacecraft;
assuming that a series of feature point sample sets of the outer envelope surface of the target spacecraft are Z, Z is expressed as:
in the formula, ziDenotes the ith feature point, xi、yiAnd ziRespectively representing coordinate information of the ith characteristic point in the x direction, the y direction and the z direction of the track coordinate system, wherein N represents the number of the characteristic points;
meanwhile, the outer envelope of the target spacecraft described by the sample set Z of the feature points is assumed to be composed of K1Fitting a mixture gaussian model of the gaussian components, the probability density distribution function p (Z | Θ) of the mixture gaussian model can be expressed as:
in the formula, Θ represents a parameter variable set included in the Gaussian mixture model,
a k-th gaussian function component representing the gaussian mixture model,
representing the expected value of the kth Gaussian function component in the mixed Gaussian model corresponding to the target spacecraft surface characteristic point,
and (3) representing the covariance matrix of the k-th Gaussian function component in the mixed Gaussian model corresponding to the target spacecraft surface feature point, wherein r is [ x, y, z ═]TRepresenting the relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft, x, y and z representing the coordinates of the tracking spacecraft in the x direction, the y direction and the z direction of the orbital coordinate system, respectively, and pikRepresents the k-th Gaussian function component of the Gaussian mixture model, pi is the circumferential ratio, e is the natural logarithm,
representing a 3x3 matrix.
Wherein the content of the first and second substances,
πksatisfy constraints
ΘkRepresenting a parameter variable set, M, contained in the kth Gaussian function component in the mixed Gaussian model corresponding to the target spacecraft surface feature pointkAnd representing the covariance matrix of the kth Gaussian function component in the hybrid Gaussian model corresponding to the target spacecraft surface feature point.
(3) Establishing an adaptive artificial potential energy function
Assuming that the expected relative position of the tracking spacecraft in the orbit coordinate system of the target spacecraft is rf＝[xf,yf,zf]T，xf、yfAnd zfRespectively representing expected coordinates of the tracked spacecraft in the x direction, the y direction and the z direction of the orbit coordinate system, and then based on the self-adaptive artificial potential energy function of the Gaussian mixture model
Can be expressed as:
wherein r is [ x, y, z ]]TRepresenting the relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft, rf＝[xf,yf,zf]TRepresenting the expected relative position of the tracking spacecraft in the orbit coordinate system of the target spacecraft, pi is the circumferential rate, e is the natural logarithm, pijRepresenting the jth Gaussian function component, Σ, in the Gaussian mixture modeljCovariance matrix, mu, representing the jth Gaussian function component in the Gaussian mixture modeljAnd expressing the expectation value of the jth Gaussian function component in the mixed Gaussian model, W expressing a conversion matrix, P expressing a semi-positive definite matrix and M expressing the semi-positive definite matrix.
(4) Determining nonsingular terminal sliding mode control sliding mode surface
Definition vector e-rfVector of
By utilizing the self-adaptive artificial potential energy function and the nonsingular terminal sliding mode control, a nonsingular terminal sliding mode control sliding mode surface corresponding to the tracking spacecraft can be determined; specifically, the nonsingular terminal sliding mode control sliding mode surface corresponding to the tracking spacecraft can be expressed as:
wherein S ═ S1 S2 S3]TRepresenting the slip form face, S1、S2And S3Representing a sliding mode surface parameter, ksA semi-positive definite matrix is represented,
the function of the gradient is represented by,
representing an adaptive artificial potential energy function based on a Gaussian mixture model
Gradient is calculated for the relative position r of the tracked spacecraft, r ═ x, y, z]TRepresenting the relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft, rf＝[xf,yf,zf]TRepresenting the desired relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
representing the relative velocity of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
and
respectively representing the relative velocity of the tracked spacecraft in the x-direction, the y-direction and the z-direction of the orbital coordinate system,
representing the desired relative velocity of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
and
respectively representing the desired relative velocity of the tracked spacecraft in the x-direction, the y-direction and the z-direction of the orbital coordinate system,
is a positive definite matrix, ξ11、ξ12And xi13In order to determine the parameters of the matrix positively,
is a positive definite matrix, ξ21、ξ22And xi23For positively determining the matrix parameter, xi0And tau are positive auxiliary parameters, 0 < xi0< 1,. tau. > 1, p and q are both positive and odd numbers, 1<p/q，ξ0The values of τ, p and q are determined in practice.
Wherein the content of the first and second substances,
expressed as:
(5) control law for determining nonsingular terminal sliding mode control
Further, on the basis of the determined nonsingular terminal sliding mode control sliding mode surface corresponding to the tracking spacecraft, the nonsingular terminal sliding mode control sliding mode surface corresponding to the tracking spacecraft is improved by utilizing PID control, so that the nonsingular terminal sliding mode control sliding mode surface under the PID control can be obtained; specifically, the nonsingular terminal sliding mode control sliding mode surface under PID control can be expressed as:
in the formula, SGaPNRepresents nonsingular terminal sliding mode control sliding mode surface under PID control, S ═ S1 S2 S3]TRepresenting the slip form face, S1、S2And S3Representing a parameter of the slip form, KpDenotes the proportionality constant, KiDenotes the integration constant, KdRepresenting a differential constant and t a time variable.
Further, on the basis of the above calculation analysis, in an embodiment of the present invention, a control law of nonsingular terminal sliding mode control corresponding to the tracking spacecraft may be obtained by calculation according to the following formula 9;
in the formula uGaPNRepresenting a control law;
each parameter in the formula 9 can be determined by calculation using the following formulas 10 to 20;
ur＝(Γ+a0)sign(S) (12)
|e|τ-1＝((x-xf)τ-1,(y-yf)τ-1,(z-zf)τ-1)T (14)
in each of the above formulae uGaPNRepresents the control law, a0Is constant, Γ is a normal number, sign (·) denotes a sign function, r ═ x, y, z]TRepresenting the relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft, rf＝[xf,yf,zf]TRepresenting the desired relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
representing the relative velocity of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
representing the desired relative velocity of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
representing the expected relative acceleration of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
and
representing the expected relative accelerations, ω and z, of the tracked spacecraft in the x, y and z directions, respectively, of the orbital coordinate system
Respectively representing the angular velocity and angular acceleration of the target spacecraft, mu representing the earth's gravitational constant, a and n representing the orbit major semi-axis and average angular velocity of the target spacecraft,
scalar rtAnd rfRespectively representing target and tracking spacecraft andand (3) relative distance between earth centroids, f represents a true perigee angle of the target spacecraft, and E is the orbital eccentricity of the target spacecraft.
And further, controlling the tracking reference track of the tracking spacecraft according to the determined control law of the nonsingular terminal sliding mode control corresponding to the tracking spacecraft.
Therefore, in the spacecraft cluster control method based on the adaptive nonsingular terminal sliding mode control provided by the embodiment of the invention, the outer envelope of the target spacecraft is analyzed and described by using the mixed gaussian model, the adaptive artificial potential energy function of the uncertain environment factor influence and the target spacecraft appearance influence is established based on the mixed gaussian model, and then the control law of the nonsingular terminal sliding mode control corresponding to the tracking spacecraft is determined based on the adaptive artificial potential energy function and by combining the nonsingular terminal sliding mode control and the PID control calculation, so that the tracking reference trajectory of the tracking spacecraft is controlled.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In addition, "front", "rear", "left", "right", "upper" and "lower" in this document are all referred to the placement state shown in the drawings.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A spacecraft cluster control method based on adaptive nonsingular terminal sliding mode control is characterized in that the method is used for realizing flight control of a target spacecraft and a tracking spacecraft in a spacecraft cluster, and the method comprises the following steps:
establishing a coordinate system: establishing an epoch J2000 earth inertia coordinate system, and establishing an orbit coordinate system of the target spacecraft on the basis of the earth inertia coordinate system;
establishing a mixed Gaussian model: acquiring position information of a plurality of characteristic points on the surface of the target spacecraft, and establishing a Gaussian mixture model of the outer envelope surface of the target spacecraft based on the position information of the plurality of characteristic points;
establishing an adaptive artificial potential energy function: based on a Gaussian mixture model, establishing a self-adaptive artificial potential energy function by combining an expected relative position of a tracked spacecraft and uncertainty factor parameters;
determining a nonsingular terminal sliding mode control sliding mode surface: determining a nonsingular terminal sliding mode control sliding mode surface corresponding to the tracking spacecraft by using a self-adaptive artificial potential energy function and nonsingular terminal sliding mode control;
determining a control law of nonsingular terminal sliding mode control: calculating and determining a control law of nonsingular terminal sliding mode control corresponding to the tracking spacecraft according to the nonsingular terminal sliding mode control sliding mode surface and PID control;
determining a control law of nonsingular terminal sliding mode control, wherein the control law comprises the following steps:
improving a nonsingular terminal sliding mode control sliding mode surface corresponding to the tracking spacecraft by using PID control to obtain a nonsingular terminal sliding mode control sliding mode surface under the PID control;
calculating and determining a control law of nonsingular terminal sliding mode control corresponding to the tracking spacecraft by utilizing a nonsingular terminal sliding mode control sliding mode surface under PID control;
the nonsingular terminal sliding mode control sliding mode surface under PID control is represented as follows:
wherein S isGaPNRepresents nonsingular terminal sliding mode control sliding mode surface under PID control, S ═ S1 S2 S3]TRepresenting the slip form face, S1、S2And S3Representing a parameter of the slip form, KpDenotes the proportionality constant, KiDenotes the integration constant, KdRepresents a differential constant, t represents a time variable;
wherein the outer envelope of the target spacecraft described by setting a plurality of characteristic points of the surface of the target spacecraft is composed of K1Fitting a mixed Gaussian model of Gaussian components, and determining a control law of nonsingular terminal sliding mode control corresponding to the tracking spacecraft by the following formula;
each parameter in the formula is calculated and determined by using the following formula;
ur＝(Γ+a0)sign(S)
|e|τ-1＝((x-xf)τ-1,(y-yf)τ-1,(z-zf)τ-1)T
uGaPNrepresents the control law, a0Is constant, Γ is a normal number, sign (·) represents a sign function,
representing the expected relative acceleration, ω and
respectively representing the angular velocity and the angular acceleration of the target spacecraft, mu representing the earth's gravitational constant, a representing the orbit major semi-axis of the target spacecraft, and a scalar rtRepresenting the relative distance between the target spacecraft and the earth centroid, f representing the true perigee angle of the target spacecraft, E being the orbital eccentricity of the target spacecraft, ksDenotes a semi-positive definite matrix, r ═ x, y, z]TRepresenting the relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft, rf＝[xf,yf,zf]TRepresenting the desired relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
representing the relative velocity of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
representing the desired relative velocity of the tracking spacecraft in the orbital coordinate system of the target spacecraft,
is a positive definite matrix, ξ11、ξ12And xi13In order to positively determine the parameters of the matrix,
is a positive definite matrix, ξ21、ξ22And xi23For positively determining the matrix parameter, xi0And tau are positive auxiliary parameters, 0 < xi0< 1,. tau. > 1, p and q are both positive and odd numbers, 1<p/q，πjRepresenting the jth Gaussian function component, Σ, of the Gaussian mixture modeljCovariance matrix, mu, representing the jth Gaussian function component in the Gaussian mixture modeljAnd expressing the expectation value of the jth Gaussian function component in the mixed Gaussian model, W expressing a conversion matrix, P expressing a semi-positive definite matrix and M expressing the semi-positive definite matrix.
2. The spacecraft clustering control method based on the adaptive nonsingular terminal sliding mode control according to claim 1, wherein establishing a coordinate system comprises:
by using O-XIYIZIRepresenting epoch J2000 earth inertial coordinate system with earth center as origin of coordinates, XIThe axis points to epoch J2000 spring minute point, the earth equator plane is the basic plane, ZIAxial direction to the Earth's North Pole, YIAxis and XIAxis, ZIThe axes form a right-hand rectangular coordinate system;
the orbit coordinate system of the target spacecraft is represented by o-xyz, the centroid of the target spacecraft is a coordinate origin, the x axis points to the centroid of the target spacecraft from the earth geocentric, the y axis is perpendicular to the x axis in the orbit plane of the target spacecraft and points to the speed direction of the target spacecraft, the z axis is perpendicular to the orbit plane of the target spacecraft, and the z axis, the x axis and the y axis form a right-hand rectangular coordinate system.
3. The spacecraft clustering control method based on the adaptive nonsingular terminal sliding mode control according to claim 2, wherein the outer envelope of the target spacecraft described by the plurality of feature points on the surface of the target spacecraft is assumed to be K1Fitting a Gaussian mixture model of the Gaussian components, and expressing the probability density distribution function of the Gaussian mixture model of the outer envelope surface of the target spacecraft as follows:
wherein p (Z | theta) represents a probability density distribution function of the Gaussian mixture model, theta represents a parameter variable set contained in the Gaussian mixture model,
k-th gaussian function component, z, representing a mixture of gaussian modelsiDenotes the ith feature point, zi＝[xi,yi,zi]T，xi、yiAnd ziRespectively representing the coordinate information of the ith characteristic point in the x direction, the y direction and the z direction of the track coordinate system,
representing the expected value of the kth gaussian function component in the hybrid gaussian model,
covariance matrix representing k-th gaussian function component in mixed gaussian model, r ═ x, y, z]TThe relative position of the tracking spacecraft in an orbit coordinate system of the target spacecraft is represented, x, y and z respectively represent the coordinates of the tracking spacecraft in the x direction, the y direction and the z direction of the orbit coordinate system, and pikRepresents the k-th Gaussian function component of the Gaussian mixture model, pi is the circumferential ratio, e is the natural logarithm,
representing a 3x3 matrix.
4. The spacecraft clustering control method based on the adaptive nonsingular terminal sliding mode control according to claim 3, wherein the adaptive artificial potential energy function based on the Gaussian mixture model is represented as:
wherein the content of the first and second substances,
represents an adaptive artificial potential energy function, and r is [ x, y, z ]]TRepresenting the relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft, rf＝[xf,yf,zf]TRepresenting the expected relative position, x, of the tracking spacecraft in the orbital coordinate system of the target spacecraftf、yfAnd zfRespectively representing the expected coordinates of the tracked spacecraft in the x direction, the y direction and the z direction of the orbit coordinate system, wherein pi is the circumferential ratio and e is the natural logarithm.
5. The spacecraft clustering control method based on adaptive nonsingular terminal sliding mode control according to claim 4, wherein a non-singular terminal sliding mode control sliding mode surface corresponding to a tracked spacecraft is represented by combining an adaptive artificial potential energy function and non-singular terminal sliding mode control as follows:
wherein the content of the first and second substances,
representing an adaptive artificial potential energy function based on a Gaussian mixture model
The gradient is calculated for the relative position r of the tracked spacecraft, e-rf，
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