摘要
针对刚体卫星的姿态跟踪问题,提出了一种模糊滑模变结构控制器设计方法。首先根据由误差四元数和误差角速度描述的跟踪误差动力学和运动学方程,设计了基于李亚普诺夫方法的滑模变结构控制律。为克服滑模控制中存在的固有的抖振问题,采用模糊控制方法设计了切换控制项。最后对卫星姿态跟踪控制系统进行了仿真研究。结果表明,在参数不确定性及外干扰存在时,所设计的控制方案在实现姿态跟踪控制的同时,对于卫星转动惯量的摄动及外部扰动力矩是鲁棒的。
To solve the attitude tracking problem of a rigid satellite, a fuzzy sliding mode controller design method is addressed. First, according to the tracking error dynamics and kinematics described by unit quaternion error and angular velocity error, a sliding mode controller is derived based on Lyapunov theory. Thus, the drawbacks of sliding mode control in terms of chattering are overcome by incorporating fuzzy control to the switching logic. Finally, simulations are eventually performed for the satellite attitude tracking system. Simulation results demonstrate that the control scheme realizes the attitude tracking control and is robust to uncertainty in satellite inertia parameters and to external disturbance torques.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2007年第4期955-958,共4页
Journal of Jilin University:Engineering and Technology Edition
基金
高等学校博士学科点专项科研基金资助项目(20050213010)
关键词
航天器制导与控制
姿态跟踪
模糊滑模控制
误差四元数
spacecraft navigation and control
attitude tracking
fuzzy sliding mode control
error quaternion
