摘要
对于转动惯量参数时变和参数不确定以及外部扰动和作用力矩方向偏差的刚体姿态跟踪系统,提出了采用滑模控制的方法.利用误差四元数建立数学模型,通过本征旋转进行反馈线性化得到指令角加速度.设计滑模控制律,实现指令角加速度跟踪.仿真结果表明,所求控制律对刚体姿态跟踪系统具有全局稳定性和鲁棒性.
A sliding mode control（SMC） method was derived and applied to a rigid body attitude tracking system in the presence of dynamic uncertainties which included uncertainties and variations in its inertia parameters,uncertainties in its control actuator alignment and external disturbances.A feedback linearization was used to obtain the required angular acceleration according to eigen-rotation.The SMC algorithm was derived to make the angular acceleration of the rigid body track the required angular acceleration.Simulation results show that the proposed SMC law is globally stabilizing and insensitive to uncertainties and variations in its inertia parameters,uncertainties in its control actuator alignment and external disturbances.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2010年第6期681-685,共5页
Journal of Beijing University of Aeronautics and Astronautics
关键词
反馈线性化
滑模控制
姿态控制
本征旋转
鲁棒性
feedback of linearization
sliding mode control
attitude control
eigen-rotation
robustness
