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研究微小型航天器姿态跟踪在角速度不可测量以及控制力矩受限情况下的的控制方法。首先基于无源性原理,仪依赖姿态测量,建立一个类似PD控制的方法。为了让初始状态和角度误差始终在合理的控制范围内,对误差函数加入跳变规则,从而获得一种混合控制方法;然后利用Lyapunov原理证明了闭环系统的全局渐进稳定性;最后通过仿真与已有方法进行比较研究,验证了控制方法的有效性,即使初始速度估计误差和初始角度误差很大,依然可以控制。
The control method of attitude tracking of the small spacecraft under the condition of unmeasurable angular velocity and limited control torque is studied. First of all, based on the principle of passive, the instrument relies on attitude measurement to establish a method similar to PD control. In order to keep the initial state and angle error within a reasonable control range, a jump control rule is added to the error function to obtain a hybrid control method. Then the global asymptotic stability of the closed-loop system is proved by Lyapunov’s principle. Finally, Some methods are compared to verify the effectiveness of the control method, even if the initial velocity estimation error and the initial angle error is large, still can be controlled.