具有预设性能的近距离星间相对姿轨耦合控制
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摘要
针对存在系统不确定性和外界干扰的接近绕飞阶段跟踪航天器相对目标航天器的姿态与轨道一体化控制任务,设计了一种具有预设性能的鲁棒反演控制器。该控制器能预先设计系统的稳态与暂态性能,保证相对姿轨跟踪误差满足预先设计的性能指标要求;为避免传统反演控制方法中存在的"微分膨胀"问题,引入滑模微分器对虚拟控制量的导数进行估计;同时利用自适应控制技术估计不确定模型参数及包含滑模微分器估计误差和外界干扰的集总干扰上界,并引入鲁棒补偿项处理这些不确定性带来的影响。理论分析证明所设计的控制方法能保证相对姿轨跟踪误差满足预设性能指标要求,仿真结果验证了所设计控制方法的有效性。
An integrated coupled control strategy with prescribed performance is proposed for proximity operations of spacecraft formation flying in the presence of mutual couplings,model uncertainty and unknown but bounded external disturbance.On the basis of the prescribed performance control theory,the prescribed steady state and transient performance for the tracking error of the original relative translation and rotation system can be guaranteed through the stabilization of the transformed system.Sliding mode differentiator is introduced to overcome the problem of explosion of complexity inherent in traditional backstepping design.In addition,the requirements of knowing the system parameters and the unknown bound of the lumped uncertainty,including external disturbance and the estimate error of sliding mode differentiator,have been eliminated by using adaptive updating technique.Within the framework of Lyapunov theory,the stability of the transformed system is obtained.Finally,numerical simulations are carried out to verify the effectiveness of the proposed control scheme.
An integrated coupled control strategy with prescribed performance is proposed for proximity operations of spacecraft formation flying in the presence of mutual couplings,model uncertainty and unknown but bounded external disturbance.On the basis of the prescribed performance control theory,the prescribed steady state and transient performance for the tracking error of the original relative translation and rotation system can be guaranteed through the stabilization of the transformed system.Sliding mode differentiator is introduced to overcome the problem of explosion of complexity inherent in traditional backstepping design.In addition,the requirements of knowing the system parameters and the unknown bound of the lumped uncertainty,including external disturbance and the estimate error of sliding mode differentiator,have been eliminated by using adaptive updating technique.Within the framework of Lyapunov theory,the stability of the transformed system is obtained.Finally,numerical simulations are carried out to verify the effectiveness of the proposed control scheme.
引文
[1]陶佳伟,张涛.考虑控制受限的近距离星间相对姿轨耦合控制[J].清华大学学报(自然科学版),2018,58(3):311-316.TAO J W,ZHANG T.Coupled control of relative position and attitude for spacecraft proximity operations with input constraints and parameter uncertainties[J].Journal of Tsinghua University(Science and Technology),2018,58(3):311-316.
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[16]殷泽阳,罗建军,魏才盛,等.非合作目标接近与跟踪的低复杂度预设性能控制[J].宇航学报,2017,38(8):855-864.YIN Z Y,LUO J J,WEI C S,et al.Low-complexity prescribed performance control for approaching and tracking a non-cooperative target[J].Journal of Astronautics,2017,38(8):855-864.
[17]ZHANG F,DUAN G R.Integrated translational and rotational finite-time maneuver of a rigid spacecraft with actuator misalignment[J].Control Theory and Applications,2012,6(9):1192-1204.
[18]BECHLIOULIS C P,ROVITHAKIS G A.Adaptive control with guaranteed transient and steady state tracking error bounds for strict feedback systems[J].Automatica,2009,45(2):532-538.
[19]POLYCARPOU M M.Stable adaptive neural control scheme for nonlinear systems[J].IEEE Trans.on Automatic Control,1996,41(3):447-451.
[20]POLYCARPOU M M,IOANNOU P A.A robust adaptive nonlinear control design[C]∥Proc.of the IEEE American Control Conference,1996:1365-1369.
[21]CHEN M,SHI P,LIM C C.Robust constrained control for MIMO nonlinear systems based on disturbance observer[J].IEEE Trans.on Automatic Control,2015,60(12):3281-3286.
[22]SUN L,ZHENG Z.Adaptive relative pose control for autonomous spacecraft rendezvous and proximity operations with thrust misalignment and model uncertainties[J].Advances in Space Research,2017,59(7):1861-1871.
[2]吴云华,曹喜滨,张世杰,等.编队卫星相对轨道与姿态一体化耦合控制[J].南京航空航天大学学报,2010,42(1):13-20.WU Y H,CAO X B,ZHSNG S J,et al.Relative orbit and attitude integrated coupled control for formation satellite[J].Journal of Nanjing University of Aeronautics and Astronautics,2010,42(1):13-20.
[3]铁钰嘉,杨伟,岳晓奎.航天器姿轨耦合自适应同步控制[J].西北工业大学学报,2012,30(1):32-37.TIE Y J,YANG W,YUE X K.Improving adaptive synchronization control of coupled spacecraft attitude and orbit[J].Journal of Northwestern Polytechnical University,2012,30(1):32-37.
[4]吴锦杰,刘昆,韩大鹏,等.欠驱动航天器相对运动的姿轨耦合控制[J].控制与决策,2014,29(6):969-978.WU J J,LIU K,HAN D P,et al.Coupled attitude and orbit control for relative motion of underactuated spacecraft[J].Control&Decision,2014,29(6):969-978.
[5]WANG J Y,LIANG H Z,SUN Z W,et al.Relative motion coupled control based on dual quaternion[J].Aerospace Science&Technology,2013,25(1):102-113.
[6]LEE D,BANG H.Coupled position and attitude control of a spacecraft in the proximity of a tumbling target[J].Advances in the Astronautical Sciences,2012,145:993-1012.
[7]SU L,HUO W.Nonlinear robust adaptive control for spacecraft proximity operations[J].IFAC Proceedings Volumes,2014,47(3):2219-2224.
[8]SU L,HUO W.Robust adaptive relative position tracking and attitude synchronization for spacecraft rendezvous[J].Aerospace Science and Technology,2015,41:28-35.
[9]SU L,HUO W.Robust adaptive control of spacecraft proximity maneuvers under dynamic coupling and uncertainty[J].Advances in Space Research,2015,56(10):2206-2217.
[10]BECHLIOULIS C P,ROVITHAKIS G A.Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance[J].IEEE Trans.on Automatic Control,2008,53(9):2090-2099.
[11]KARAYIANNIDIS Y,PAPAGEORGIOU D,DOULGERI Z.A model-free controller for guaranteed prescribed performance tracking of both robot joint positions and velocities[J].IEEE Robotics&Automation Letters,2016,1(1):267-273.
[12]WEI C,LUO J J,DAI H H,et al.Efficient adaptive constrained control with time-varying predefined performance for a hypersonic flight vehicle[J].International Journal of Advanced Robotic Systems,2017,14(2):1729881416687504.
[13]WU Z H,LU J C,SHI J P,et al.Tracking error constrained robust adaptive neural prescribed performance control for flexible hypersonic flight vehicle[J].International Journal of Advanced Robotic Systems,2017,14(1):1729881416682704.
[14]WANG M,ZHANG Y W.Prescribed performance adaptive constrained backstepping controller for carrier-based longitudinal landing with magnitude constraints[C]∥Proc.of the IEEE 36th Chinese Control Conference,2017:856-861.
[15]WEI C S,LUO J J,XU C,et al.Low-complexity stabilization control of combined spacecraft with an unknown captured object[C]∥Proc.of the IEEE 36th Chinese Control Conference,2017:1075-1080.
[16]殷泽阳,罗建军,魏才盛,等.非合作目标接近与跟踪的低复杂度预设性能控制[J].宇航学报,2017,38(8):855-864.YIN Z Y,LUO J J,WEI C S,et al.Low-complexity prescribed performance control for approaching and tracking a non-cooperative target[J].Journal of Astronautics,2017,38(8):855-864.
[17]ZHANG F,DUAN G R.Integrated translational and rotational finite-time maneuver of a rigid spacecraft with actuator misalignment[J].Control Theory and Applications,2012,6(9):1192-1204.
[18]BECHLIOULIS C P,ROVITHAKIS G A.Adaptive control with guaranteed transient and steady state tracking error bounds for strict feedback systems[J].Automatica,2009,45(2):532-538.
[19]POLYCARPOU M M.Stable adaptive neural control scheme for nonlinear systems[J].IEEE Trans.on Automatic Control,1996,41(3):447-451.
[20]POLYCARPOU M M,IOANNOU P A.A robust adaptive nonlinear control design[C]∥Proc.of the IEEE American Control Conference,1996:1365-1369.
[21]CHEN M,SHI P,LIM C C.Robust constrained control for MIMO nonlinear systems based on disturbance observer[J].IEEE Trans.on Automatic Control,2015,60(12):3281-3286.
[22]SUN L,ZHENG Z.Adaptive relative pose control for autonomous spacecraft rendezvous and proximity operations with thrust misalignment and model uncertainties[J].Advances in Space Research,2017,59(7):1861-1871.