Anti-unwinding attitude maneuver control of spacecraft considering bounded disturbance and input saturation  

作　　者：CUI HuTao CHENG XiaoJun 

机构地区：[1]School of Astronautics,Harbin Institute of Technology,Harbin 150080,China

出　　处：《Science China(Technological Sciences)》2012年第9期2518-2529,共12页中国科学（技术科学英文版）

基　　金：supported by the National Basic Research Program of China ("973" Program) (Grant No. 2012CB720000);the National Naturalm Science Foundation of China (Grant No. 61174201)

摘　　要：The attitude maneuver control of spacecraft under bounded disturbance and input saturation is investigated in this paper.Using the Lyapunov stability theory,an anti-saturation sliding mode control algorithm is given by designing a time-varying sliding mode to solve the input saturated attitude control problem without disturbance.Then combining the merit in anti-saturation of time-varying sliding mode controller with the merit in anti-disturbance of time-invariant sliding mode controller,a switching strategy between the two controllers is designed to solve the attitude maneuver control problem under input saturation and bounded disturbance.However,double value of quaternions makes the attitude slewing unwinding.To solve the problem,an attitude error vector is designed.Based on the error vector,a modified sliding mode control algorithm is proposed which simultaneously has the ability of anti-saturation,anti-disturbance and anti-unwinding.Simulation results show that the algorithm in this paper is feasible and effective.

关 键 词：input saturation attitude control bounded disturbance anti-unwinding 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V448.22[自动化与计算机技术—控制科学与工程]