抓捕航天器的多环递归姿态跟踪控制
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摘要
为提升存在控制饱和约束抓捕航天器的姿态跟踪精度,先引入姿态跟踪误差的积分项,将广义二阶姿态控制系统扩展成广义三阶姿态跟踪动力学系统,并给出扩展系统控制目标的设计方法;接着对扩展系统提出多环递归跟踪控制策略,设计了一种辅助动力学系统在线消除控制饱和约束,给出保证闭环系统渐近稳定的自适应多环姿态跟踪控制器。数值仿真显示,该方法能有效提升姿态跟踪精度,且姿态跟踪轨迹具有优良的动态品质。
Aiming at improving the attitude tracking precision,the structure of the attitude control system is extended,and a variable structure robust attitude tracking control strategy is established for extending system,in which,the constraints of control saturation and unknown inertia moment are considered. Firstly,an integral of attitude tracking error is introduced to the attitude control system to drop the steady-state error,an extending attitude tracking system is obtained,and the design method of extending system's control goal is analyzed. Then,multi-loop recursive tracking control strategy is proposed for extending system,an auxiliary system is designed to online eliminate the control saturation,and an adaptive multi-loop attitude tracking controller is developed for spacecraft. The numerical simulations show that the proposed method can effectively improve attitude tracking precision and the attitude tracking trajectory presents good dynamic quality.
Aiming at improving the attitude tracking precision,the structure of the attitude control system is extended,and a variable structure robust attitude tracking control strategy is established for extending system,in which,the constraints of control saturation and unknown inertia moment are considered. Firstly,an integral of attitude tracking error is introduced to the attitude control system to drop the steady-state error,an extending attitude tracking system is obtained,and the design method of extending system's control goal is analyzed. Then,multi-loop recursive tracking control strategy is proposed for extending system,an auxiliary system is designed to online eliminate the control saturation,and an adaptive multi-loop attitude tracking controller is developed for spacecraft. The numerical simulations show that the proposed method can effectively improve attitude tracking precision and the attitude tracking trajectory presents good dynamic quality.
引文
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[13]Chen B S,Wu C S,Jan Y W.Adaptive Fuzzy Mixed H2/H∞Attitude Control of Spacecraft[J],IEEE Transactions on Aerospace and Electronic Systems,2000,36(4):1343-1359.
[14]Tao G.A Simple Alternative to the Barbalat Lemma[J].IEEE Transactions on Automatic Control,1997,42(5):698.
[15]Yeh F K.Sliding-mode Adaptive Attitude Controller Design for Spacecrafts with Thrusters[J].Control Theory&Applications,IET,2010,4(7):1254-1264.
[2]Li S,Yang J,Chen W H,et al.Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties[J].IEEE Transactions on Industrial Electronics,2012,59(12):4792-4802.
[3]Han J.From PID to Active Disturbance Rejection Control[J].Industrial Electronics,IEEE Transactions on,2009,56(3):900-906.
[4]Park Y.Robust and Optimal Attitude Control of Spacecraft with Inertia Uncertainties Using Minimal Kinematic parameters[J].Aerospace Science&Technology,2016,54:276-285.
[5]殷春武,侯明善,褚渊博,等.物理约束下的反演自适应姿态控制[J].西北工业大学学报,2016,34(2):281-286.(Yin Chunwu,Hou Mingshan,Chu Yuanbo,Yu Ying.Backstepping Adaptive Attitude Control with Physical Constraints[J],Journal of Northwestern Polytechnical University,2016(02):281-286.)
[6]Yao Z.Attitude Tracking Control for Spacecraft with Robust Adaptive RBFNN Augmenting Sliding Mode Control[J].Aerospace Science&Technology,2016,56:197-204.
[7]Leeghim H,Choi Y,Bang H.Adaptive Attitude Control of Spacecraft Using Neural Networks[J].Acta Astronautica,2009,64(7):778-786.
[8]Jiang B,Hu Q,Friswell M I.Fixed-Time Attitude Control for Rigid Spacecraft With Actuator Saturation and Faults[J].IEEE Transactions on Control Systems Technology,2016,24(5):1-7.
[9]Zou A M,Ruiter A H J D,Kumar K D.Finite-time Output Feedback Attitude Control for Rigid Spacecraft Under Control Input Saturation[J].Journal of the Franklin Institute,2016,353(17):4442-4470.
[10]Li B,Hu Q,Ma G.Extended State Observer Based Robust Attitude Control of Spacecraft with Input Saturation[J].Aerospace Science&Technology,2016,50:173-182.
[11]Guo Y,Song S M,Li X H,et al.Terminal Sliding Mode Control for Attitude Tracking of Spacecraft under Input Saturation[J].Journal of Aerospace Engineering,2016,30(3):16-32.
[12]Gao J,Cai Y.Adaptive Finite-Time Control for Attitude Tracking of Rigid Spacecraft[J].Journal of Aerospace Engineering,2016,29(4):04016016.
[13]Chen B S,Wu C S,Jan Y W.Adaptive Fuzzy Mixed H2/H∞Attitude Control of Spacecraft[J],IEEE Transactions on Aerospace and Electronic Systems,2000,36(4):1343-1359.
[14]Tao G.A Simple Alternative to the Barbalat Lemma[J].IEEE Transactions on Automatic Control,1997,42(5):698.
[15]Yeh F K.Sliding-mode Adaptive Attitude Controller Design for Spacecrafts with Thrusters[J].Control Theory&Applications,IET,2010,4(7):1254-1264.