干扰环境下的挠性航天器姿态跟踪控制  

Attitude Tracking Control of Flexible Spacecraft with Disturbance

作　　者：白圣建[1] 黄新生[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《控制工程》2011年第5期788-792,共5页Control Engineering of China

基　　金：兵器预研基金(2020203)

摘　　要：挠性航天器在姿态机动过程会受环境干扰力矩的作用,研究有扰情况下挠性航天器的姿态跟踪控制问题。首先,设计了干扰观测器在线估计频率已知的外部干扰信号,然后,基于干扰观测器设计了非线性反馈姿态跟踪控制器以跟踪目标姿态,并且该控制器只需要误差四元数和角速度的反馈信息。其次,采用Lyapunov方程和Barbalat引理证明了控制系统的全局渐近稳定性;为简化分析,在证明过程中采用集中参数法将高维分块对称矩阵转化为低阶矩阵。最后,针对外部干扰为常值干扰和周期干扰的情况,分别进行了仿真分析。仿真结果表明,干扰观测器可以渐近跟踪外部干扰,基于观测器的非线性反馈控制器满足姿态跟踪控制要求,是有效的。The problem of tracking a desired attitude is here addressed in the case of a flexible spacecraft subject to environmental disturbances. Firstly, a disturbance estimator is developed to estimate external disturbances with known frequencies. Based on the estimator, a nonlinear feedback attitude tracking controller is constructed to track a desired attitude, which only needs error quaternion and angular velocity measurements. Then, The Barbalat lemma and Lyapunov function are adopted to prove the global stability of the control system, where high order block symmetric matrices are transformed to lower order ones to simplify the provement. Finally, numerical simulations are presented in the case of the constant disturbances and periodic disturbances. Simulation results show that, the estimator can track the external disturbances exponentially, and the proposed controller is effective.

关 键 词：挠性航天器 姿态跟踪 干扰 Barbalat引理 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]