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针对存在干扰力矩的航天器姿态控制问题,从能量角度提出一种基于端口受控哈密顿(PCH)系统模型的无源控制方法。通过将姿态控制系统表示为PCH形式,并增加与姿态误差积分有关的状态,利用互联和阻尼分配无源控制(IDA-PBC)方法进行控制器设计,使得闭环系统具有期望的内部互连结构关系和能量耗散特性,所提出的控制方案能保证系统的输入-状态稳定性。进一步,考虑执行器的动态特性,利用反步法对控制指令进行补偿设计,结合指令滤波技术避免对虚拟控制量高阶导数的计算,并从理论上证明了闭环系统一致最终有界。仿真结果验证了本文所提控制方法相比于单独基于无源性控制方法的性能优势。
Aiming at the spacecraft attitude control problem with disturbing torque, a passive control method based on port controlled Hamiltonian (PCH) system model is proposed from the energy point of view. By representing the attitude control system as a PCH form and adding the state related to the attitude error integral, the controller is designed using the interconnected and damped distributed passive control (IDA-PBC) method to make the closed-loop system have the desired internal interconnection structure And energy dissipation characteristics, the proposed control scheme can ensure the input-state stability of the system. Furthermore, considering the dynamic characteristics of the actuator, the backstepping method is used to compensate the design of control commands, and the instruction filtering technique is used to avoid the calculation of the high-order derivatives of the virtual control quantities. Theoretically, it is proved that the closed-loop system is uniform and ultimately bounded. The simulation results verify the performance advantage of the proposed control method compared with that based on the passive control method alone.