| 引用本文: | 李传江,郭敏文,马广富.航天器姿态跟踪的几乎干扰解耦控制[J].哈尔滨工业大学学报,2011,43(9):7.DOI:10.11918/j.issn.0367-6234.2011.09.002 |
| LI Chuan-jiang,GUO Min-wen,MA Guang-fu.Spacecraft attitude tracking based on almost disturbance decoupling[J].Journal of Harbin Institute of Technology,2011,43(9):7.DOI:10.11918/j.issn.0367-6234.2011.09.002 |
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| 摘要: |
| 研究了有界干扰力矩作用下航天器姿态跟踪的几乎干扰解耦控制问题.采用修正罗德里格参数(MRP)作为航天器的姿态描述.利用非线性系统中的微分几何理论,通过反馈线性化方法设计跟踪控制器,使得在实现姿态跟踪的同时,实现了对系统的几乎干扰解耦控制,即在L2增益意义下实现了从干扰到跟踪误差的影响任意小,并通过Lyapunov方法证明了干扰对跟踪误差的L2增益可以通过调节相关参数实现任意减小,同时保证了姿态跟踪误差系统是全局一致最终有界稳定的.最后进行数学仿真研究,验证了所设计的几乎干扰解耦控制器的可行性和有效性. |
| 关键词: 姿态跟踪 几乎干扰解耦 反馈线性化 Lyapunov方法 全局一致最终有界稳定 |
| DOI：10.11918/j.issn.0367-6234.2011.09.002 |
| 分类号:V448.22 |
| 基金项目:国家自然科学基金资助项目(60774062);中国博士后科学基金资助项目(20070420858);哈尔滨工业大学优秀青年教师培养计划资助项目(HITQNJS.2008.006);哈尔滨市科技创新人才研究专项资助项目(2010RFQXG029) |
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| Spacecraft attitude tracking based on almost disturbance decoupling |
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LI Chuan-jiang1, GUO Min-wen1,2, MA Guang-fu1
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1.Dept.of Control Science and Engineering,Harbin Institute of Technology,150001 Harbin,China;2.Beijing Institute of Control Engineering,100190 Beijing,China)
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| Abstract: |
| The problem of spacecraft attitude tracking under bounded disturbances is addressed based on almost disturbance decoupling.The modified Rodrigues Parameter(MRP) is adopted as attitude representation.A feedback linearization control scheme based on differential geometry for nonlinear systems is used to design the controller,by which the tracking and the almost disturbance decoupling performances can be easily achieved.Lyapunov theory is employed to prove that the influence of disturbances on the L2 norm of output tracking error can be arbitrarily attenuated by changing some adjustable parameters in the controller,and that spacecraft attitude tracking system is globally uniformly ultimately bounded stable.Simulation results demonstrate the effectiveness and feasibility of the proposed control scheme. |
| Key words: attitude tracking almost disturbance decoupling feedback linearization Lyapunov theory global uniformly ultimately bounded stability |
