基于旋转矩阵描述的航天器无角速度测量姿态跟踪无源控制  

Rotation matrix based passive attitude tracking control of spacecraft without angular velocity measurements

作　　者：郑重[1] 宋申民[1] 

机构地区：[1]哈尔滨工业大学控制理论与制导技术研究中心,哈尔滨150001

出　　处：《控制与决策》2014年第9期1628-1632,共5页Control and Decision

基　　金：国家自然科学基金项目(61174037);国家973计划项目(2012CB821205);CAST创新基金项目(CAST20120602)

摘　　要：利用系统无源性和旋转矩阵性质研究无角速度测量下的姿态跟踪控制问题.为了避免姿态参数的奇异性和模糊性,提出基于三维特殊正交群(SO(3))的控制策略.首先利用旋转矩阵建立姿态跟踪误差方程,然后分析了系统的内在无源性,从而揭示了闭环系统的稳定性.当角速度无法获得时,利用新的无源滤波提出一种无角速度测量控制律,并给出了严格的Lyapunov稳定性分析.最后,通过数值仿真验证了所提出的控制方法的有效性.Attitude tracking control without angular velocity measurements is investigated by using the passivity of the system and the property of rotation matrix. The control scheme developed on the special orthogonal group（SO（3）） is proposed to avoid ambiguities and singularities of attitude parameters. Firstly, the equations of attitude tracking error are established by using the rotation matrix. Then, the inherent passivity of the system is analyzed to reveal the stability of the closed-loop system. With the use of a novel passive filter, a controller without angular velocity is proposed while the velocity measurements may not be available. The strict Lyapunov stability analysis is also presented. Finally, numerical simulations validate the effectiveness of the proposed control method.

关 键 词：姿态跟踪 旋转矩阵 无源控制 无速度反馈 Barbalat引理 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]