文档介绍：基于自校正控制的空间光通信精跟踪系统设计
摘要：
针对空间光通信捕获、跟踪、对准(acquisition, tracking, pointing, ATP)系统的精跟踪单元高度 复杂、被控对象参数模型难以精确获得、存在慢变化随机干扰的特点，提出采用自校正卩ID
(proportional, integral and derivative)控制來设计精跟踪的控制器，改善了系统动态性能，增强 r系统对不确定因素的适应性o采用遗忘因了递推最小二乘法來进行参数辨识,能在线调整适应对象 参数的变化，增强了系统的适应性和鲁棒性。通过仿真验证了算法的控制性能和参数辨识效果,算法的 实时性也满足系统设计的要求。给MIT ATP梢跟踪系统的设计框图,迹行了 2. 3 km的精跟踪实验。实 验结果表明精跟踪系统采用自校正PID控制有较好的跟踪精度。［著者文摘］ 关键词：
捕获、跟踪、对准 自校止PID最小一乘 辨识 精跟踪
Fine tracking system design of space optical communication based on self-tuning control
Abstract:
Duo to the complexity of fine tracking, it is difficult to acquire the parametric models of controlled objects accurately that arc randomly disturbed and have slow changes;A solf-tuning PID (proportional，intcgral and derivative) control 1 or is proposed for fine tracking to improve the dynamic property and make the system adaptable to uncertain factors・ The RLS algorithm with forgetting factor is applicd to identify the parameters, which enables inTino adjustment to fit the parameter changing of the object and onhanco the adaptability and the robustness of the system .Simulation verifies the control performance and parameter idontification effect of the algori thm;and the algori thm also meets the real-time requirements of the system dcsign. The block diagram of the ATP fine tracking system is presented and km fino tracking experiment was carried out・Exporimonl results demonstrate that, adopting sclf-tuning PID control algorithm in fine tracking system can achieve better tracking accuracy.［著者文摘］
Key words: acquisition; track in g and pointing (ATP) ; self-tuning PID; least squares; identification; fine tracking
多机器人主一从行星式编队控制
郑秀娟 吴怀宇程磊 陈洋 张玉礼
摘要：
研究了二阶积分器描述的多机器人主一从行星式编队控制问题，提出了将多机器人编队分解为毎个机 器人对各自具有时变速度的虚拟机器人的跟踪控制，使得每个机器人相对于虚拟机器人的位胃场速度 跟踪课差收敛为零口彼此不和碰撞，，分别实现了 跟随者以领航者为中心的公转运动编队(revolution formation, RF)模式和跟随者对领航者保持期 望距离、期望速度的编队(desiredformation, DF)模式•公转运动编队(RF)模式适用于异构多机器 人系统的环境探索任务;保持期望距离、期望速度的编队(DF)模式适用于自主水下机器人(AUV). 无人机(LAV)等合作©协