摘要
针对存在模型不确性和常值干扰的挠性航天器,提出一种不依赖于模型参数的非线性PID姿态控制器.该控制器在小姿态偏差的情况下近似经典的线性PID控制器.另外,考虑到航天器上陀螺失效情况,设计了一种仅需姿态测量信息的非线性PI控制器.这两种控制器在局部均对常值干扰有抑制作用,并能使无干扰作用的姿态控制系统半全局渐近稳定.闭环系统的稳定性证明采用了奇异扰动理论,以解决积分项的存在带来的稳定性分析问题.文章最后用数学仿真验证了控制器的性能.
A model-independent nonlinear PID attitude-controller is proposed for a flexible spacecraft with model uncertainties and constant disturbances. This controller approximates to a classical linear PID controller when the attitude error is small. In addition, a nonlinear PI controller which only requires attitude measurement is also designed for the case of gyros failure. Both of the proposed controllers exhibit the disturbances rejection properties in a local region, and render the attitude control system semi-globally stable in the case of no disturbance. To solve the stability analysis problem arising from the integral term, we employ the singular perturbation theory to analyze the stability of the resulting closed-loop system. Finally, numerical simulations are included to demonstrate the performance of the presented controllers.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2009年第5期540-545,共6页
Control Theory & Applications
基金
国家高技术研究发展计划(863计划)资助项目(2006AA701412).
