基于反步法的主从航天器相对姿态控制  

Backstepping-based relative-attitude control for the leader-follower spacecrafts

作　　者：马广富[1] 张海博[1] 胡庆雷[1] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2012年第6期797-802,共6页Control Theory & Applications

基　　金：国家自然科学基金资助项目(61004072;61174200);高等学校博士学科点专项科研基金资助项目(20102302110031);哈尔滨市留学回国基金资助项目(2010RFLXG001);中央高校基本科研业务费专项基金资助项目(HIT.NSRIF.2009003);教育部新世纪优秀人才计划(NCET-11-0801)

摘　　要：对主从航天器的相对姿态控制问题,考虑从航天器系统不确定因素,提出了一种基于反步法的姿态控制方法,并引入自适应控制律.该方法首先根据主从航天器的相对位置信息,解算出从航天器观测轴指向主航天器以及从航天器跟踪主航天器轨道坐标系等两种任务的期望姿态;然后基于修正罗德里格参数(MRP)描述的从航天器姿态误差动力学模型设计了姿态控制器以及针对航天器惯量的不确定性设计了自适应控制律;并基于Lyapunov方法从理论上证明了该方法能够实现全局渐近稳定的相对姿态控制.最后将该方法应用于某编队飞行任务,仿真结果表明此控制器能够实现其编队飞行控制,具有良好的控制性能.An attitude-control scheme based on the backstepping technique is developed for controlling the relative attitude between the leader spacecraft and the follower spacecraft, and the adaptive control law is applied to deal with the uncertainties in the follower spacecraft attitude system. According to the current relative positions between the leader and the follower, this scheme determines the required attitude of the follower to align its observation axis to the leader, and the required attitude of the follower to track the orbital coordinates of the leader. With the above-obtained results, an adaptive backstepping attitude controller is synthesized for the follower with unknown inertia matrix, based on the follower attitude- error dynamic model represented by modified Rodrigues parameters （MRP）. Lyapunov stabilit3 analysis shows that the developed controller ensures the relative-attitude control system for globally asymptotical stability. Simulation results of the application to a spacecraft formation flying show the effectiveness and feasibility of the designed controller.

关 键 词：修正罗德里格参数(MRP) 反步法 自适应 指向控制 轨道系跟踪 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]