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针对参数不确定的挠性航天器姿态跟踪控制问题,提出了一种退步直接自适应控制算法。首先验证了挠性航天器动力学子系统的近似严格正实性,并设计了具有理想控制性能的参考模型;然后对以姿态四元数描述的运动学子系统设计常系数输出反馈中间控制律,使航天器姿态四元数输出渐近跟踪参考模型输出;最后退一步,对具有参数不确定特性的动力学子系统,基于非线性直接自适应控制理论和Lyapunov稳定性理论,设计了退步直接自适应姿态跟踪控制器,并证明了闭环系统的稳定性。仿真结果表明,所提控制方法能有效抑制挠性附件的振动,对挠性航天器的控制是有效的。
Aiming at the problem of attitude tracking control of flexible spacecraft with uncertain parameters, a direct step-back adaptive control algorithm is proposed. First of all, the approximate rigorous realities of the dynamics subsystem of flexible spacecraft are verified, and a reference model with ideal control performance is designed. Then, a constant coefficient output feedback intermediate control law is designed for the kinematic subsystem described by attitude quaternion. Spacecraft attitude quaternion output asymptotic tracking reference model output. Finally, one step backwards, the kinematic subsystem with parameter uncertainties was designed based on the nonlinear direct adaptive control theory and Lyapunov stability theory, and a backward direct adaptive attitude Track the controller and prove the stability of the closed-loop system. The simulation results show that the proposed control method can effectively restrain the vibration of flexible attachments and is effective for the control of flexible spacecraft.