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针对存在外界扰动和模型参数不确定性的雷达卫星姿态跟踪控制问题,提出了一类基于修正的罗德里格斯参数描述的雷达卫星鲁棒逆最优自适应控制器设计新方法.通过Backstepping方法和构造相应李雅普诺夫函数,设计了鲁棒逆最优控制器,避免了直接求解哈密顿-雅克比-贝尔曼偏微分方程,使控制器相对于选取的具有鲁棒性的代价函数最优,并以较小的L2增益,实现对外界扰动的输入-状态稳定和鲁棒性;针对系统参数不确定性设计自适应参数更新律,对参数进行自适应学习,有效降低参数不确定对系统的不利影响.仿真结果表明:该方法能有效抑制模型不确定参数和外界未知扰动的影响,在保证姿态跟踪精度的同时,能增强系统鲁棒性.
Aiming at the radar satellite attitude tracking control problem with external disturbances and uncertainty of model parameters, a new design method of radar satellite robust inverse optimal adaptive controller based on modified Rodrigues parameters is proposed. By Backstepping method And constructs the corresponding Lyapunov function. The robust inverse optimal controller is designed to avoid the direct solution of the Hamilton-Jacobi-Bellman partial differential equation and to make the controller optimal with respect to the chosen robust cost function , And with a small L2 gain, the input-state stability and robustness to external disturbances are achieved. An adaptive parameter update law is designed for the uncertainty of system parameters, and the parameters are adaptively learned, which can effectively reduce the uncertainty of the parameters of the system The simulation results show that this method can effectively restrain the influence of uncertain parameters and unknown disturbance in the model, and enhance the system robustness while ensuring the attitude tracking accuracy.