摘要
本文研究了非合作目标强迫绕飞过程中存在外部干扰和参数不确定性以及控制输入饱和约束下的航天器鲁棒姿轨耦合控制问题.首先,根据视线坐标系下的轨道动力学方程和本体坐标系下的姿态动力学方程,建立了满足视线指向要求的航天器相对姿轨耦合动力学模型.其次,针对姿轨耦合模型,基于反步法设计了具有抗饱和能力的鲁棒自适应姿轨耦合控制律,其中利用抗饱和技术设计了饱和补偿器,并结合自适应方法对未知参数和扰动上界进行估计,并基于Lyapunov方法给出了闭环系统的稳定性证明.最后,将提出的控制方案进行了数值仿真和比较,验证了其有效性.
This paper studies the relative position and attitude control of spacecraft fly-around mission in the presence of parameter uncertainties, disturbances and input saturation. Firstly, based on the relative orbit dynamic model expressed in the line-of-sight （LOS） frame and relative attitude dynamic model described by modified rodrigues parameters, an integrated relative position and attitude coupled dynamic model by satisfying the sight orientation requirements is established. Then, by using the backstepping control method, a robust adaptive control scheme is proposed, among which the anti-windup technique is employed to design a saturation compensator such that the adverse effects caused by actuator saturation can be reduced, and the adaptive methodology is applied to estimate unknown parameters and the upper bound of the disturbances. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed control schemes.
作者
黄艺
贾英民
HUANG Yi;JIA Ying-min(The Seventh Research Division,Beihang University,Beijing 100191,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2018年第10期1405-1414,共10页
Control Theory & Applications
基金
国家自然科学基金项目(61327807
61521091
61520106010
61134005)
国家"973"计划项目(2012CB821200
2012CB821201)资助~~
关键词
非合作绕飞
视线指向
姿轨耦合
输入饱和
鲁棒控制
non-cooperative fly-around mission
sight orientation
coupled attitude and position motion
input saturation
robust control
