交会对接模拟系统姿态位置耦合有限时间控制  

Coupled attitude and position finite-time control for rendezvous and docking simulator

作　　者：黄成[1] 王岩[1] 周乃新[1] HUANG Cheng WANG Yan ZHOU Nai-xin(Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China)

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨150001

出　　处：《控制与决策》2017年第10期1789-1795,共7页Control and Decision

基　　金：国家自然科学基金项目(61174037);国家自然科学基金创新群体项目(61321062)

摘　　要：针对航天器交会对接模拟系统的姿态同步和位置跟踪控制问题,在存在外界扰动和系统不确定性的情况下,基于改进的快速非奇异终端滑模面和改进的自适应律,采用双闭环控制结构分别设计内环和外环有限时间姿态位置耦合控制器.所提出的自适应律不仅能有效地抑制扰动和不确定性且能保证控制器是连续的.李雅普诺夫理论推导和仿真结果表明,所提出的控制方法能保证系统内环和外环跟踪误差的有限时间稳定性和准确收敛性.For attitude synchronization and position tracking control of spacecraft rendezvous and docking simulator,based on an improved fast nonsingular terminal sliding mode surface and an improved adaptive control architecture, an inner loop finite-time coupled attitude and position controller and a outer loop finite-time coupled attitude and position controller are designed by using a double closed loops control structure under the condition of external disturbances and inertia uncertainties existing. The proposed adaptive control architecture not only can inhibit the disturbances and uncertainties effectively, but also can guarantee the continuity of the controllers. The Lyapunov theory and simulation results show that the proposed controllers can guarantee the finite-time stability of inner loop tracking errors and outer loop tracking errors, and the errors can converge to the equilibrium point accurately.

关 键 词：交会对接 姿态位置耦合 有限时间收敛 终端滑模 

分 类 号：V526[航空宇航科学与技术—人机与环境工程]