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针对存在未知惯量矩阵和外干扰的刚体航天器姿态跟踪,提出了一种鲁棒自适应控制方法。综合自适应反步法和非线性L2增益干扰抑制方法,用自适应反步法构造系统的Lyapunov函数,获得了具L2增益的鲁棒自适应控制器,以保证姿态跟踪误差系统为一致最终有界稳定,确保估计的航天器惯量参数的有界性,并使从外干扰输入到评价输出的L2增益不大于给定值。仿真结果验证了方法的有效性和可行性。
Aiming at the attitude tracking of rigid-body spacecraft with unknown inertia matrix and external disturbance, a robust adaptive control method is proposed. With adaptive backstepping method and nonlinear L2 gain interference suppression method, the adaptive Lyapunov function is constructed by using the adaptive backstepping method, and a robust adaptive controller with L2 gain is obtained to ensure that the attitude tracking error system is consistent and finally Boundary stability ensures that the estimated inertia parameter of the spacecraft is bounded and that the L2 gain input from the external disturbance input to the evaluation output is not greater than the given value. Simulation results verify the effectiveness and feasibility of the method.