In this paper, a novel distributed hierarchical control method for small satellites with multiple disturbances and input constraints is investigated by combining formation flying and satellite cluster. First, a finite-time convergent extended state observer (FTCESO) is developed to estimate the external disturbance with high precision, and a non-singular fast terminal sliding mode controller (NFTSMC) is proposed to maintain the specific configuration of leader-satellites and the finite time convergence is theoretically proved. Then, an improved artificial potential field method with collision avoidance and damping characteristics is proposed for the follower-satellite, so that the follower-satellite can keep a collision-avoidance relative distance from corresponding leader-satellite with the desired communication range. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed method.

本文结合编队飞行和卫星群，研究了一种具有多种干扰和输入约束的小型卫星分布式分级控制方法。首先，开发了一种有限时间收敛的扩展状态观测器（FTCESO）来高精度地估计外部干扰，并提出了一种非奇异的快速终端滑模控制器（NFTSMC）来维持领导卫星和卫星的特定配置。理论上证明了有限时间收敛。然后，提出了一种针对卫星跟随器的具有避免碰撞和阻尼特性的改进的人工势场方法，以使卫星跟随器能够在期望的通信范围内与相应的卫星引导器保持避免碰撞的相对距离。最后，