為了更加實際的應用，在本研究中我們提出了一種用於大型低軌道衛星網路控制系統的分散式H∞容錯觀測器PID編隊追蹤設計，以應對外部干擾、耦合和透過無線通訊渠道的惡意攻擊訊號。首先我們提出了一種新穎的前饋線性化參考追蹤控制策略，從而使大型低軌道衛星網路控制系統的非線性編隊輸出反饋追蹤控制問題變成每顆衛星的等效線性化編隊追蹤控制系統，並且考慮了測量雜訊、致動器和傳感器錯誤訊號以及耦合效應。因此在每顆衛星的等效線性化團隊形成系統中嵌入了一種新穎的致動器和傳感器錯誤訊號平滑模型，以避免它們對每顆衛星的團隊形成估計和控制的損害。然後使用分散式H∞容錯觀測器PID控制策略，以有效減少致動器和傳感器錯誤訊號、測量雜訊以及衛星之間的耦合對衛星編隊的影響。我們只需要為團隊中的每顆衛星解決一個線性矩陣不等式約束優化問題，以實現大型低軌道衛星網路控制系統的最佳分散式H∞容錯觀測器PID編隊追蹤設計。最後，給出了由一個由十二顆衛星組成的任務的編隊模擬，說明設計過程並且驗證所提出的設計的可行性並與其他方法進行比較。

In this study, for more practice applications, a simple decentralized H∞ fault-tolerant observer-based team formation proportional-integral-derivative (PID) tracking design is proposed for large-scale low earth orbit (LEO) satellites network control system (NCS) under external disturbance, coupling and malicious attack signals via wireless communication channel. First, a novel feedforward linearization reference tracking control scheme is proposed so that the nonlinear team formation output feedback tracking control problem of large-scale LEO satellites NCS become an equivalent linearized team formation tracking control system of each satellite with output measurement, actuator and sensor false signals, and coupling effect. Therefore, a novel smoothing model of actuator and sensor false signal is embedded in the equivalent linearized team formation system of each satellite to avoid their corruption on the estimation and control of team formation of each satellite. Then, a decentralized H∞ fault-tolerant observer-based PID control strategy is employed to efficiently attenuate the effect of actuator and sensor false signal, measurement noise and coupling among satellites on the team formation of all satellites. We only need to solve a linear matrix inequalities (LMIs)-constrained optimization problem for each satellite in the team to achieve the optimal H∞ decentralized fault-tolerant observer-based PID team formation tracking control of large-scale LEO satellite NCS. Finally, a simulation example of team formation composed of twelve satellites is given for a task of coverage of earth to illustrate the design procedure and to validate the proposed design in comparison with other method.

I. Introduction 1
II. System Model and Problem Formulation 6
A. Satellite System Model 6
B. Problem Formulation 10
III. H∞ Observer-Based PID Fault-Tolerant Tracking Control of Large-Scale Team Formation Satellites NCS 12
IV. Simulation and Comparison 22
A. Design Specifications of the Satellites System 24
B. Simulation Result and Discussion 28
C. Comparison Result and Discussion 36
V. Conclusion 37
Reference 38

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