宇航学报

宇航学报 ›› 2015, Vol. 36 ›› Issue (5): 539-548.doi: 10.3873/j.issn.1000-1328.2015.05.008

• 制导、导航与控制 • 上一篇    下一篇

行星表面多漫游器编队探测系统的分布式H∞控制器设计

曲成刚，曹喜滨，张卓，刘琦，张泽旭   

  1. 1. 哈尔滨工业大学卫星技术研究所，哈尔滨 150080；
    2. 哈尔滨工业大学深空探测基础研究中心，哈尔滨 150080
  • 收稿日期:2014-05-15 修回日期:2014-06-26 出版日期:2015-05-15 发布日期:2015-05-25
  • 基金资助:
    国家重点基础研究发展计划(2012CB720000)；国家自然科学基金（61374213）；装备预研共用技术基金（9140A04030113HT01049）；中国航天科技集团公司航天创新基金（CASC201312）
     

Distributed H∞Controller Design for Planetary Multirover Formation

QU Cheng gang, CAO Xi bin, ZHANG Zhuo, LIU Qi, ZHANG Ze xu   

  1. 1. Research Institute of Satellite Technology, Harbin Institute of Technology, Harbin 150080, China;
    2. Deep Space Exploration Research Center, Harbin Institute of Technology, Harbin 150080, China
  • Received:2014-05-15 Revised:2014-06-26 Online:2015-05-15 Published:2015-05-25

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摘要：

针对编队探测中星表路面不平带来的不确定干扰，提出一种基于虚拟领航者的多智能体编队H∞控制器设计算法。应用图论中的相关定义及其性质，描述漫游器编队中各智能体之间的通信拓扑关系，由此建立以虚拟领航者和跟随者为对象的智能体编队系统齐次线性数学模型及运动方程，并将漫游探测中不平的星表路面作为不确定干扰。对编队系统模型分析有限时间有界性及有限时间稳定性，给出设计H∞控制器的一个多步算法。仿真试验表明本文提出的算法可以使编队位置和速度误差快速收敛到零，校验了该算法的有效性。

关键词: 编队, 虚拟领航者, 不确定性干扰, 有限时间稳定, 有限时间有界

Abstract:

A robust H∞ controller based on a virtual leader is designed for the uncertain disturbance from the wavy terrain. The communicating topology of the formation is presented by means of the adjacency matrix and the Laplace matrix in graph theory. Then, the homogeneous linear motion equation in a two-dimensional system for a leader and followers is established. Besides, the rough road in the process of exploration is regarded as an uncertain disturbance. The finite time stability (FTS) and the finite time boundedness (FTB) of the formation system are analyzed. A multi-step algorithm for H-infinity controller is designed. Simulation results show that the errors of position and velocity converge to zero quickly. The effectiveness of the proposed algorithm is proved.

Key words: Formation, Virtual leader, Uncertain disturbance, Finite time stability, Finite time boundedness

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