考虑输入饱和的空间飞行器姿态神经鲁棒自适应滑模控制  

Neural Robust Adaptive Sliding Mode Method for Spacecraft Attitude Control with Input Saturation

作　　者：李成洋 王伟[1,2] 耿宝魁 胡宽容 王雨辰 LI Chengyang;WANG Wei;GENG Baokui;HU Kuanrong;WANG Yuchen(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Key Laboratory of UAV Autonomous Control,Beijing 100081,China;Northwest Industries Group Corporation,Xi’an 710043,China)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]无人机自主控制技术北京市重点实验室,北京100081 [3]西北工业集团有限公司,西安710043

出　　处：《宇航学报》2024年第8期1269-1280,共12页Journal of Astronautics

基　　金：国家自然科学基金(52272358,62103052)。

摘　　要：针对空间飞行器姿态跟踪控制过程中出现的执行器饱和、模型不确定性和未知外部扰动问题,提出了一种鲁棒自适应径向基函数神经网络(RBFNN)增强滑模控制方法。首先,基于四元数法建立空间飞行器姿态运动学和动力学模型,并针对未知外部扰动建立非线性扰动观测器。其次,为了解决执行器饱和问题,引入高斯误差函数对控制器幅值进行约束,并以PID滑模控制为框架,对控制器进行设计。在控制器设计过程中,利用新型切换函数将鲁棒自适应控制和RBFNN进行结合,对模型不确定性进行逼近,并利用梯度下降法解决RBFNN权值优化问题。随后,基于Lyapunov理论证明闭环系统的有界性,并分析了闭环系统的收敛域。最后,通过仿真分析验证了所设计控制器的有效性和鲁棒性。For the problems of actuator saturation,uncertain inertial parameters and unknown external disturbances in the process of spacecraft attitude tracking control,a robust adaptive radial basis function neural network(RBFNN)enhanced sliding mode control method is proposed.Firstly,a quaternion-based model of the spacecraft′s attitude kinematics and dynamics is established,and a disturbance observer is established for unknown external disturbances.Secondly,to solve the actuator saturation problem,a Gaussian error function is introduced to constrain the controller amplitude,and a PID sliding mode control framework is used to design the controller.In the controller design process,a novel switching function is used to combine robust adaptive control and RBFNN to approximate uncertain inertial parameters.The gradient descent method is employed to solve the weight optimization problem of RBFNN.Subsequently,the boundedness of the closed-loop system is proved based on Lyapunov theory,and the convergence domain of the closedloop system is analyzed.Finally,simulation analysis is conducted to verify the effectiveness and robustness of the designed controller.

关 键 词：空间飞行器 执行器饱和 模型不确定 扰动观测器 RBFNN 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]