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针对欠驱动航天器的姿态调节问题,设计了基于滑模变结构控制方法的控制器.给出基于四元数的三轴稳定欠驱动航天器动力学模型和运动学模型,在此基础上首先利用广义逆和二阶滑模趋近律设计了航天器欠驱动轴的姿态调节控制律,给出了欠驱动轴控制器所具有的一般形式,分析了控制器的可实现性,并引入微小摄动量以保证控制器解的存在,在保证欠驱动轴稳定的情况下,又设计了一阶滑模趋近律控制器实现可控轴的调节,最后证明了该控制方法在干扰作用下是有界稳定的,并进行了数值仿真,验证了所推导控制律对欠驱动航天器姿态调节控制的有效性.
In order to solve the problem of under-spacecraft attitude control, a controller based on sliding mode variable structure control is designed. Based on the quaternion dynamics and kinematics model of the three-axis stabilized underactuated spacecraft, Using the generalized inverse and the second-order sliding mode approach law, the attitude regulation law of the under-driven spacecraft is designed. The general form of the under-drive shaft controller is given. The feasibility of the controller is analyzed. In order to ensure the existence of controller solution, the first-order sliding-mode approach controller is designed to control the axis of the under-actuated shaft under the condition that the under-driven shaft is stable. Finally, it is proved that the control method is Bounded and stable, and carried out numerical simulation to verify the effectiveness of the derived control law for attitude control of under-actuated spacecraft.