Substructure transporting is an important phase for on-orbit assembly. This paper investigates a problem of designing a control approach for multiple transporting agents attached to one substructure, so as to complete the task of attitude tracking and stabilization of the substructure in the transportation process. A finite-time fuzzy game control method is developed to solve this problem. Using the framework of differential game, a finite-time nonlinear game is formulated based on the individual performance index functions of agents and attitude dynamics of the combination consisting of transporting agents and the substructure, which can reflect the cooperation and coordination between agents. In order to realize finite-time convergence which is more suitable for engineering requirement, a speed function is introduced to transfer finite-time game into infinite-time game. Considering the limited computational ability of agents, Takagi-Sugeno (T-S) fuzzy is incorporated to divide the nonlinear game problem into weighted average of multiple linear games which are easy to get the Nash equilibrium. Numerical simulations validate the efficiency of the proposed method for attitude control and the advantage in less calculation and better performance in dynamics and steady state than the existing methods.

子结构运输是在轨组装的重要阶段。本文研究了一种设计一种控制方法的问题，该方法适用于附着在一个子结构上的多个运输代理，以完成运输过程中子结构的姿态跟踪和稳定任务。为了解决这个问题，提出了一种有限时间模糊博弈控制方法。利用微分博弈的框架，基于代理的个体性能指标函数和运输代理与子结构组成的组合的姿态动力学，制定了一个有限时间非线性博弈，可以反映代理之间的合作与协调。为了实现更适合工程要求的有限时间收敛，引入速度函数将有限时间博弈转化为无限时间博弈。考虑到智能体的计算能力有限，结合Takagi-Sugeno (TS)模糊，将非线性博弈问题划分为多个线性博弈的加权平均，易于得到纳什均衡。数值模拟验证了所提出的姿态控制方法的有效性和比现有方法计算量少、动力学和稳态性能更好的优点。