基于分层滑模方法的欠驱动3D刚体摆姿态控制  

Hierarchical sliding mode based attitude stabilization of 3D rigid pendulum control

作　　者：赵旭[1] 戈新生[1] 

机构地区：[1]北京信息科技大学机电工程学院,北京100192

出　　处：《北京信息科技大学学报（自然科学版）》2014年第6期32-36,59,共6页Journal of Beijing Information Science and Technology University

基　　金：国家自然科学基金资助项目(11072038);北京市自然科学基金重点项目B类(KZ201110772039)

摘　　要：以3D刚体摆为研究对象,将地球静止轨道(GEO)航天器简化成3D刚体摆,此模型由一刚体绕一个固定且无摩擦的支点旋转且有3个转动自由度,刚体受恒重力(或万有引力)作用。利用滑模结构方法设计了分层滑模控制器,并用Lyapunov稳定性理论、Filippov等效定理与Barbalat引理以及推论,详细证明了该控制律的全局渐近稳定性。仿真实验结果表明,该方法能够有效地实现3D刚体摆悬垂和倒立平衡位置处的姿态渐进稳定性控制。The attitude control problem of 3D rigid pendulum is studied in this paper,reducing the model of GEO stationary spacecraft as the 3D rigid pendulum. It consists of a rigid body supported by a fixed and frietionless pivot with three rotational degrees, a constant gravitational force being acted. For nonlinear control design problem of underaetuated 3D rigid pendulum, Lyapunov method, Filippov equivalence theory and Barbalat theory are used to prove global asymptotic stability of the control law. Simulation results show that this method can effectively achieve asymptotic stability control of 3D rigid body pendulum suspended and inverted posture in the equilibrium position.

关 键 词：欠驱动 3D刚体摆 分层滑模控制 约化姿态 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]