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研究了空间绕飞任务中从航天器对主航天器进行观测时的姿态跟踪控制问题,提出了综合考虑挠性、外部扰动和参数不确定性等因素的输入饱和鲁棒控制器设计方法。根据主、从航天器的质心相对运动信息,解算出了从航天器的期望跟踪姿态。为保证从航天器跟踪期望姿态时控制器的有界性和强鲁棒性,将文献中已有的一种一阶滑模姿态调节控制器推广到了姿态跟踪的情况。进一步,为消除一阶滑模控制的高频抖振问题,将姿态跟踪问题转化成了标准的二阶滑模控制问题,提出了一种连续的二阶滑模姿态跟踪控制器。仿真结果表明,本文算法能有效实现绕飞过程中的姿态跟踪,同时具有强鲁棒性。
The attitude tracking control problem of the main spacecraft observed from the spacecraft in space missions around the spacecraft is studied. An input saturation robust controller design method considering the factors of flexibility, external disturbance and parameter uncertainty is proposed. According to the master and the spacecraft from the spacecraft relative motion information, calculated from the spacecraft expected tracking attitude. In order to ensure the boundedness and robustness of the controller when tracking the desired attitude from the spacecraft, a first-order sliding mode attitude controller, which is already in the literature, is generalized to attitude tracking. Furthermore, in order to eliminate the high-frequency chattering problem of first-order sliding mode control and convert the attitude tracking problem into the standard second-order sliding mode control problem, a continuous second-order sliding mode attitude tracking controller is proposed. Simulation results show that the proposed algorithm can effectively track the attitude around the fly and has strong robustness.