物理约束下的反演自适应姿态控制  

Backstepping Adaptive Attitude Control with Physical Constraints

作　　者：殷春武[1] 侯明善[1] 褚渊博[1] 余英[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710129

出　　处：《西北工业大学学报》2016年第2期281-286,共6页Journal of Northwestern Polytechnical University

摘　　要：针对存在参数摄动、外部干扰和物理约束的航天器姿态控制问题,设计了一种鲁棒姿态控制器。基于反演控制策略,先对外环系统设计了有界虚拟角速度。接着,对显式存在控制饱和约束的姿态动力学系统进行变换,分离出存在摄动和干扰的不确定项,并采用自适应更新律估计复合不确定项;再基于障碍Lyapunov函数设计姿态控制器,将实际角速度与虚拟角速度的跟踪误差,限制在预设有界范围内,最终在实现全局渐近稳定的同时,满足了角速度有界的约束。最后数值仿真验证了姿态控制器的强鲁棒性,低耗能性和航天器的高飞行品质特性。A novel robust attitude controller is designed for spacecraft stability control in the presence of uncertain parameter perturbation,external disturbance and physical constraints. Based on backstepping control method,a bounded virtual angular velocity is designed for kinematics system firstly. Secondly,the dynamical system with control saturation constraint is converted into a normal pattern. An adaptive update law is designed to estimate the uncertain parts that consist of the perturbation and disturbance of dynamical system. Under the robust attitude controller,the tracking error of the real and the bounded virtual angular velocity is limited according to the preset range;then,the global asymptotic stability of close-loop system and the boundness of angular velocity are guaranteed. Finally numerical simulation verifies the robustness, low energy consumption and the high flying quality characteristics of spacecraft.

关 键 词：姿态控制 反演控制 鲁棒控制 控制饱和 角速度 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]