RBF网络摩擦补偿的挠性卫星滑模姿态控制  

Flexible Satellite Sliding Mode Attitude Control Based on RBF Network Friction Compensation

作　　者：曲直 徐开[1,2,3] 何昕 刘萌萌[3] 解延浩 李峰 QU Zhi;XU Kai;HE Xin;LIU Mengmeng;XIE Yanhao;LI Feng(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;University of Chinese Academy of Sciences,Beijing 100049,China;Changguang Satellite Technology Co.Ltd,Changchun 130033,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033 [2]中国科学院大学,北京100049 [3]长光卫星技术有限公司,长春130033

出　　处：《电光与控制》2020年第11期53-58,共6页Electronics Optics & Control

基　　金：吉林省科技发展计划项目(20170204069GX)。

摘　　要：研究了挠性卫星的姿态跟踪控制问题,设计了一种RBF网络摩擦补偿滑模控制算法。首先,根据挠性卫星姿态控制系统的成像模式推导了挠性卫星姿态运动模型。其次,根据误差四元数描述的跟踪误差运动模型,引入经典滑模控制作为主控制框架,考虑到对观测干扰的抑制,加入扩张观测器(ESO)来观测系统总扰动。最终,使用RBF网络摩擦补偿系统来近似估计在线切换项,实现滑模控制律中切换增益的平滑,从而减小系统振动。理论推导并证明该方法的收敛性,并与传统的RBF网络逼近的自适应控制进行仿真比较,验证了理论结果。The attitude tracking control problem of flexible satellites is studied,and a friction compensation sliding mode control algorithm for RBF network is designed.Firstly,the attitude model of flexible satellite attitude is derived based on the imaging mode of the flexible satellite attitude control system.Secondly, according to the tracking error motion model described by the error quaternion,the classical sliding mode control is introduced as the main control framework.Considering the suppression of the observed interference,an Extended State Observer(ESO) is added to observe the total disturbance of the system.Finally,the RBF network friction compensation system is used to approximately estimate the online switching term,and the smoothing of the switching gain in the sliding mode control law is realized,thus to reduce the system vibration.The convergence of the method is proved and deduced theoretically,and simulation is conducted for comparing it with the traditional adaptive method of RBF network approximation,which verifies the theoretical results.

关 键 词：挠性卫星 跟踪控制 RBF网络摩擦补偿 滑模控制 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]