| 引用本文: | 马广富,刘刚,黄静.欠驱动航天器姿态调节滑模控制[J].哈尔滨工业大学学报,2012,44(9):1.DOI:10.11918/j.issn.0367-6234.2012.09.001 |
| MA Guang-fu,LIU Gang,HUANG Jing.Sliding mode control for attitude regulation of underactuated spacecraft[J].Journal of Harbin Institute of Technology,2012,44(9):1.DOI:10.11918/j.issn.0367-6234.2012.09.001 |
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| 摘要: |
| 针对欠驱动航天器的姿态调节问题,设计了基于滑模变结构控制方法的控制器．给出基于四元数的三轴稳定欠驱动航天器动力学模型和运动学模型,在此基础上首先利用广义逆和二阶滑模趋近律设计了航天器欠驱动轴的姿态调节控制律,给出了欠驱动轴控制器所具有的一般形式,分析了控制器的可实现性,并引入微小摄动量以保证控制器解的存在,在保证欠驱动轴稳定的情况下,又设计了一阶滑模趋近律控制器实现可控轴的调节,最后证明了该控制方法在干扰作用下是有界稳定的,并进行了数值仿真,验证了所推导控制律对欠驱动航天器姿态调节控制的有效性． |
| 关键词: 姿态调节控制 欠驱动航天器 滑模控制 广义逆 |
| DOI：10.11918/j.issn.0367-6234.2012.09.001 |
| 分类号:V448.2 |
| 基金项目:国家自然科学基金资助项目(61004072); 中央高校基本科研业务费专项基金资助项目(HIT.KLOF.2010016); |
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| Sliding mode control for attitude regulation of underactuated spacecraft |
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MA Guang-fu, LIU Gang, HUANG Jing
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School of Astronautics, Harbin Institute of Technology, 150001 Harbin, China
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| Abstract: |
| The problem of attitude regulation control of an underactuated spacecraft is resolved by using sliding mode method. The three-axis underactuated spacecraft attitude dynamics and kinematics models are introduced. A sliding mode controller using generalized inverse and second order approaching law is designed for underactuated axis stabilization control, and the realisability of the controller is analyzed. A perturbed null-projection is constructed to guarantee the feasibility of the controller. On the basis of stabilization of the underactuated axis, a sliding mode controller is designed for another two axes as well. The proof of bounded stability is given in Lyapunov's sense. Simulation results demonstrate the availability of the proposed control algorithm. |
| Key words: attitude regulation control underactuated spacecraft sliding mode control generalized inverse |
