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研究了在输入饱和约束条件下的航天器相对运动的姿态和轨道一体化控制问题。首先,基于单位对偶四元数给出了航天器6自由度相对运动的数学模型,利用误差对偶四元数来描述航天器的相对姿态和相对位置。接着,针对输入饱和问题,提出了一种对航天器模型参数不确定性和外部有界干扰具有较强鲁棒性的自适应控制器,并通过李雅普诺夫方法从理论上严格证明了整个闭环系统的全局渐近稳定性。最后,通过数值仿真来验证设计方法的有效性和可行性,并且与其他方法进行了比较,结果表明设计的方法能够抑制输入饱和的问题,在性能上具有更快的收敛速度和更强的鲁棒性。
The attitude and trajectory integration control problem of spacecraft relative motion under input saturation constraints is studied. First, a mathematical model of 6-DOF relative motion of the spacecraft is given based on the unit quaternion, and the relative quaternion of the spacecraft is used to describe the relative attitude and relative position of the spacecraft. Then, aiming at the problem of input saturation, an adaptive controller with strong robustness to uncertainties of the spacecraft model parameters and external bounded disturbances is proposed. It is theoretically proved by Lyapunov’s method that the entire closed-loop Global asymptotic stability of the system. Finally, numerical simulation is used to verify the effectiveness and feasibility of the design method and to compare with other methods. The results show that the proposed method can suppress the input saturation problem, has faster convergence speed and stronger robustness Great.