| 引用本文: | 高岱,吕建婷,王本利.多刚体滑模姿态协调控制[J].哈尔滨工业大学学报,2012,44(9):34.DOI:10.11918/j.issn.0367-6234.2012.09.006 |
| GAO Dai,LU Jian-ting,WANG Ben-li.Sliding mode coordinated attitude control for multiple rigid bodies[J].Journal of Harbin Institute of Technology,2012,44(9):34.DOI:10.11918/j.issn.0367-6234.2012.09.006 |
|
| 摘要: |
| 本文研究了多刚体分布式姿态协调控制问题．基于图论和滑模控制理论,针对修正罗德里格参数描述的姿态跟踪控制系统,设计了滑模姿态协调控制律．首先引入图拉普拉斯矩阵,采用Lyapunov稳定性分析方法设计了滑模面．然后在干扰存在时设计了滑模姿态控制算法,并在转动惯量不确定存在时研究了控制算法的鲁棒性．最后对给出的算法进行了数值仿真,其结果验证了所提出的多刚体滑模姿态协调控制算法的可行的、有效的． |
| 关键词: 分布式控制 姿态协调 滑模控制 |
| DOI：10.11918/j.issn.0367-6234.2012.09.006 |
| 分类号:V448.2 |
| 基金项目: |
|
| Sliding mode coordinated attitude control for multiple rigid bodies |
|
GAO Dai1, LU Jian-ting2, WANG Ben-li1
|
|
1.Research Center of Satellite Technology, Harbin Institute of Technology, 150080 Harbin, China;2.School of Mathematical Science, Heilongjiang University, 150080 Harbin, China
|
| Abstract: |
| The problem of distributed coordinated attitude control for multiple rigid bodies is addressed in this paper. Based on graph theory and sliding mode control theory, a sliding mode coordinated attitude control law aiming at the attitude tracking control system described by the Modified Rodrigues Parameters is proposed. First the sliding surface is designed by introducing graph Laplacian matrix and using Lyapunov stability analysis method. Then the sliding mode attitude control algorithms for multiple rigid bodies with external disturbances are designed, and the robustness of the control algorithm is studied in the presence of uncertainty inertia. Finally, numerical simulations of the algorithms are given. The results show that the sliding mode coordinated attitude control algorithm for multiple rigid bodies is feasible and effective. |
| Key words: distributed control attitude coordination sliding mode control |
