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研究跟踪时变参考姿态情况下控制输入饱和的编队飞行卫星姿态协同控制问题。针对不同情形,通过恰当地利用双曲正切函数,提出3种连续有界的协同控制器。首先,在无外部扰动和参数不确定性的情况下,提出一种理想的饱和协同控制器。进一步,考虑角速度不可测量的情况,利用无源滤波器设计无角速度反馈的饱和协同控制器。当外部扰动和参数不确定性存在时,通过在双曲正切函数中引入动态时变参数,提出一种连续的鲁棒饱和协同控制器。由于在本文算法作用下的闭环协同系统是非自治的,通过合理地利用Barbalat引理分析了状态的收敛性。仿真结果表明了所提控制方案的有效性。
The research tracking the cooperative attitude control of formation flying satellites with saturated input control under variable reference attitude conditions. According to different situations, by utilizing the hyperbolic tangent function properly, three kinds of continuous bounded cooperative controllers are proposed. First, an ideal saturated cooperative controller is proposed without external disturbances and parameter uncertainties. Furthermore, considering the non-measurable angular velocity, a saturated cooperative controller with no angular velocity feedback is designed by using passive filter. When external disturbances and parameter uncertainties exist, a continuous robust saturated cooperative controller is proposed by introducing dynamic time-varying parameters into the hyperbolic tangent function. Since the closed-loop cooperative system under the influence of the proposed algorithm is non-autonomous, the state convergence is analyzed by the reasonable use of the Barbalat lemma. Simulation results show the effectiveness of the proposed control scheme.