时滞与未知扰动下航天器时变编队最优协同跟踪

Considering the requirements for formation recovery and maintenance with lower consumption and time costs，the optimal cooperative control problem is investigated，and an optimal cooperative controller is developed. To facilitate faster formation recovery，the formation is guided to maneuver through configuration edges based on the error between each real-time edge and the nominal one. Subsequently，nonlinear performance indices based on“edge error”and“control coupling”are designed. The optimal solutions to these indices are asymptotically approximated by introducing invariant manifolds，leading to the derivation of a dynamically optimal feedback controller. Furthermore，a bounded attenuation for unknown disturbances is achieved through the implementation of an observer-based feedforward controller. Stability analysis demonstrates that the closed-loop tracking errors of the formation，under time delays and disturbances，are uniformly ultimately bounded by the proposed controller. Simulations show that the time costs and fuel consumption for configuration tracking，under time delays and disturbances，can be effectively reduced.