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针对由四元数描述的航天器姿态控制系统进行了非线性反馈控制器设计.首先,得到一类含角速度测量的反馈控制律.该控制律不仅可以保证闭环系统是全局渐近稳定的,而且保证了2个期望的平衡位置都是稳定的.然后,利用基于四元数的滤波器取代角速度测量,得到一类无需角速度测量的反馈控制律.该控制律同样保证了闭环系统的全局渐近稳定性和2个稳定的期望平衡位置.值得注意的是,2个稳定的期望平衡位置,将促使由任意初始姿态出发的轨迹都就近收敛至任意期望平衡位置.最后,数值仿真展示了所得反馈控制律的优势.
A nonlinear feedback controller design for a spacecraft attitude control system described by quaternions is given. Firstly, a class of feedback control law is obtained with angular velocity measurement, which not only ensures that the closed-loop system is globally asymptotically stable, but also Which ensures that the two expected equilibrium positions are stable. Then, instead of the angular velocity measurement, a quaternion-based filter is used to obtain a feedback control law without angular velocity measurement. The control law also guarantees the global asymptotic behavior of the closed-loop system Stability and two stable expected equilibrium positions.It is worth noting that two stable desired equilibrium positions will cause the trajectories from any initial attitude to converge to any desired equilibrium position.Finally, numerical simulation shows the obtained feedback The advantages of control law.