【作者】 霍星； 肖冰； 胡庆雷；

【Author】 HUO Xing~(1,2),XIAO Bing~2,HU Qing-lei~2 (1.College of Engineering,Bohai University,Jinzhou 121000,China; 2.Department of Control Science and Engineering,Harbin Institute of Technology,Harbin 150001,China)

【机构】 渤海大学 工学院； 哈尔滨工业大学 控制科学与工程系；

【摘要】 针对采用反作用飞轮控制的刚体航天器,设计一种自适应滑模姿态跟踪控制算法。该方法应用滑模控制来处理不确定转动惯量,而采用自适应技术来估计外部干扰的上界,从而实现对干扰的抑制控制以及系统不确定性的鲁棒控制。同时考虑反作用飞轮安装偏差,提出所设计的控制器在安装偏差情况下实现姿态跟踪控制的充分条件,并基于Lyapunov方法证明闭环姿态跟踪系统的全局渐近稳定性。最后将所提出的方法应用于某型航天器的姿态跟踪任务中,仿真结果验证了该方法的有效性,及其对飞轮安装偏差的处理能力。更多还原

【Abstract】 An adaptive sliding mode control scheme is proposed for rigid spacecraft attitude tracking,which is activated by reaction wheels.Sliding mode control is employed to treat with uncertain inertia parameters,while adaptive technique is also utilized to estimate the upper bound of external disturbance;therefore,external rejection and robustness to system uncertainties are guaranteed by the proposed controller.Moreover,a sufficient condition is presented with reaction wheel misalignment taken into consideration,under which the attitude maneuver can be successfully performed with the synthesized control law.The associated stability proof is constructive and accomplished by the Lyapunov analysis,which shows that the resulting closed-loop attitude tracking system is globally asymptotically stable.Numerical simulation results of an application to a rigid spacecraft are also presented that not only highlight the attitude tracking performance and the effectiveness of the control law derived here but also illustrate its great capability to handle reaction wheels misalignment.更多还原