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设计了一种抗慢时变干扰的简单饱和姿态控制器。其基本原理是将干扰作为未知参数,然后利用浸入与不变流形的方法设计了独立于控制器的干扰估计器,从而再基于干扰的估计结果设计饱和控制器。该控制器形式简单,由比例与微分项和干扰补偿项组成,各部分物理意义明确。根据浸入与不变流形方法,通过严格的理论证明得到了如下结果:对于慢时变干扰的情况,通过调整控制干扰辨识收敛速度的参数,可以使得理论上的姿态最终控制误差任意小(实际仿真误差还受限于由数值稳定性决定的时间步长);对于干扰为常值的情况,则可以完全消除干扰的影响,并获得系统状态渐近稳定的结果。最后通过数值仿真验证了控制方案的可行性。
A simple saturated attitude controller is designed to resist the slow time-varying disturbance. The basic principle is to use interference as an unknown parameter, and then use the immersion and invariant manifold method to design a controller-independent interference estimator to design the saturation controller based on the interference estimation results. The controller is simple in form and consists of proportional and differential terms and interference compensation terms, and the physical meaning of each part is clear. According to the method of immersion and invariant manifold, the following results are obtained through rigorous theoretical proof: For the case of slow time-varying interference, the final control error of the theoretical pose can be made small by adjusting the parameters of the control disturbance identification convergence rate The simulation error is also limited to the time step determined by the numerical stability). For the case of constant interference, the influence of the interference can be completely eliminated and the asymptotic stability of the system state can be obtained. Finally, the feasibility of the control scheme is verified by numerical simulation.