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研究在轨服务航天器逼近与捕获失控目标过程中姿态同步的控制问题,设计了一种基于姿态四元数的姿态跟踪控制算法.通过建立服务航天器相对失控目标的姿态运动学与动力学,将服务航天器跟踪失控目标航天器姿态的控制问题转化为相对姿态的控制问题.考虑未知干扰和控制力矩受限的因素,并以相对姿态四元数的二阶形式描述相对姿态动力学,利用反馈线性化原理和自适应算法的思想,设计姿态同步的非线性反馈控制律.数学仿真的结果表明,设计的控制算法是有效的,具有较好的跟踪性能.
In order to solve the problem of attitude synchronization in orbit control spacecraft approach and capture uncontrolled targets, a pose tracking control algorithm based on quaternion of attitude is designed. By establishing attitude kinematics and dynamics of the spacecraft serving relatively uncontrollable targets, The problem of control spacecraft tracking the attitude of uncontrolled target spacecraft is transformed into the control problem of relative attitude.Considering the factors of unknown disturbance and limited control moment, and relative attitude dynamics are described by the second order form of relative attitude quaternion, Feedback linearization theory and adaptive algorithm, and design attitude synchronization nonlinear feedback control law.The results of mathematical simulation show that the designed control algorithm is effective and has good tracking performance.