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基于交会对接地面物理仿真系统对卫星交会对接中相对姿态和位置的控制问题进行研究,根据地面物理仿真系统的结构推导出描述系统姿态和位置运动的耦合六自由度动力学模型;基于此模型,在存在外部扰动的情况下,采用自适应快速非奇异终端滑模控制思想设计一种能够克服传统终端滑模控制奇异问题的鲁棒有限时间控制器。通过李雅普诺夫理论推导和仿真分析表明,该控制器在保证系统的有限时间稳定性和收敛性的同时能有效地抑制外部扰动。
Based on the theory of rendezvous and docking physical simulation system, the relative attitude and position control in satellite rendezvous and docking are researched. According to the structure of ground physical simulation system, a coupled six-freedom kinematic model describing the system attitude and position movement is derived. Based on this model, In the presence of external disturbances, a robust finite-time controller capable of overcoming the singularity problem of traditional terminal sliding mode control is designed using the idea of adaptive fast non-singular terminal sliding mode control. The Lyapunov theory deduction and simulation analysis show that the controller can effectively suppress the external disturbances while ensuring the stability and convergence of the system for a finite time.