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本文研究了多刚体分布式姿态协调控制问题.基于图论和滑模控制理论,针对修正罗德里格参数描述的姿态跟踪控制系统,设计了滑模姿态协调控制律.首先引入图拉普拉斯矩阵,采用Lyapunov稳定性分析方法设计了滑模面.然后在干扰存在时设计了滑模姿态控制算法,并在转动惯量不确定存在时研究了控制算法的鲁棒性.最后对给出的算法进行了数值仿真,其结果验证了所提出的多刚体滑模姿态协调控制算法的可行的、有效的.
In this paper, the problem of multi-rigid body distributed attitude coordination control is studied.Based on graph theory and sliding mode control theory, a sliding-pose attitude coordination control law is designed for the attitude tracking control system with modified Rodrigue parameters.Firstly, Matrix, the sliding mode surface is designed by the method of Lyapunov stability analysis, then the sliding mode attitude control algorithm is designed in the presence of disturbance, and the robustness of the control algorithm is studied when the moment of inertia is uncertain.Finally, The numerical simulation results show that the proposed multi-rigid sliding mode attitude coordination control algorithm is feasible and effective.