摘要
重点研究了控制受限和角速度不可测情况下航天器姿态快速跟踪问题。首先定义了四元数辅助系统,并设计了包含实际误差四元数和观测误差四元数的双曲正切函数的非线性控制律;然后,证明了系统的稳定性以及控制量的有界性;最后通过数字仿真与已有的方法进行比较研究,说明该方法能大大提高卫星姿态跟踪精度和响应速度。
Attitude control of rigid spacecraft without the measurement of angular velocity was proposed in the case of physical limits of actuators. First a quaternion auxiliary dynamical system was defined, and then a nonlinear feedback control law of hyperbolic tangent function with real and estimated errors of unit quaternion was presented. The stability of the tracking error system with bounded control effort was proved. The performance of the proposed control algorithm was verified through numerical simulations. It shows that both the satellite attitude accuracy and response speed can be improved greatly compared to other methods.
出处
《中国空间科学技术》
EI
CSCD
北大核心
2011年第4期64-69,76,共7页
Chinese Space Science and Technology
基金
国家自然科学基金(60535010)重点项目
空间智能控制技术国家级重点实验室资助项目
关键词
姿态控制
四元数运动方程控制受限航天器
Attitude control Unit-quaternion Motion equation Control constraintSpacecraft
