论文部分内容阅读
研究了有界干扰力矩作用下航天器姿态跟踪的几乎干扰解耦控制问题.采用修正罗德里格参数(MRP)作为航天器的姿态描述.利用非线性系统中的微分几何理论,通过反馈线性化方法设计跟踪控制器,使得在实现姿态跟踪的同时,实现了对系统的几乎干扰解耦控制,即在L2增益意义下实现了从干扰到跟踪误差的影响任意小,并通过Lyapunov方法证明了干扰对跟踪误差的L2增益可以通过调节相关参数实现任意减小,同时保证了姿态跟踪误差系统是全局一致最终有界稳定的.最后进行数学仿真研究,验证了所设计的几乎干扰解耦控制器的可行性和有效性.
The almost disturbance decoupling control problem of spacecraft attitude tracking with bounded disturbing torque is studied. The modified Rodrigue parameters (MRP) are used as the attitude description of the spacecraft. By using the differential geometry theory in nonlinear systems and feedback linearization The tracking controller is designed so that almost the disturbance decoupling control is achieved while the attitude tracking is realized. That is to say, the influence of interference from the tracking error is realized arbitrarily under L2 gain, and the interference is proved by Lyapunov method The L2 gain of tracking error can be reduced arbitrarily by adjusting the relevant parameters, at the same time, it is guaranteed that the attitude tracking error system is globally uniform and finally boundedly stable. Finally, the mathematical simulation is carried out to verify that the designed almost disturbance decoupling controller Feasibility and effectiveness.