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针对在偏航姿态测量信息未知时偏置动量卫星姿态跟踪控制,提出了一种新的滑模观测器及其对应的自适应滑模控制器设计方法。基于滚动轴和俯仰轴信息,设计了一种经过平滑的滑模观测器,抑制高频抖震的同时提高状态估计的鲁棒性;设计的比例-积分滑模面,能实现积分滑模控制,抑制稳态误差,优化滑模的全程鲁棒性,并采用自适应方法,对不确定参数进行在线更新,补偿不确定参数的影响。数值仿真结果表明,相对于龙伯格观测器,该方法能提高偏航姿态信息估计精度,在保证系统鲁棒性的同时,滚动和偏航轴姿态跟踪精度分别提高约50%。
Aiming at the satellite attitude tracking control of bias momentum when the yaw attitude measurement information is unknown, a new sliding mode observer and its corresponding adaptive sliding mode controller design method are proposed. Based on the rolling axis and pitch axis information, a smooth sliding mode observer is designed to suppress the bounce of high frequency and improve the robustness of the state estimation. The designed proportional-integral sliding mode surface can realize the integral sliding mode control , Suppress the steady-state error, and optimize the robustness of the whole sliding mode. The adaptive method is used to update the uncertain parameters online and compensate for the influence of uncertain parameters. The numerical simulation results show that this method can improve the accuracy of yaw attitude information estimation compared with the Lunager observer. While keeping the robustness of the system, the attitude tracking accuracy of the roll and yaw axes is improved by about 50% respectively.