摘要
针对刚体卫星的姿态跟踪问题,提出了一种新的非线性PI控制器。它不同于传统的全状态反馈控制方案,无需姿态角速度的测量信号,而是通过引入一个一阶低通滤波器来产生伪角速度信号,进而对其进行反馈。同时,采用积分控制以减少或抑制由于常值干扰力矩引起的常值姿态误差。通过Lyapunov方法分析证明了整个闭环系统是渐近稳定的。最后,仿真结果验证了所提出的输出反馈控制律在实现姿态跟踪和干扰抑制方面的有效性。
New nonlinear proportional-integral controller design method is proposed to deal with rigid-satellite attitude tracking problem.The control law is different from the traditional full state feedback control solution.It is independent of angular velocity state.And it describes the construction of a fast-order low-pass filter to generate pseudo velocity signals and to carry on the feedback control.At the same time,integral control is adopted to eliminate or reduce steady-state attitude error in the presence of constant external disturbance torques.Global asymptotic stability for the system is demonstrated through a rigorous Lyapunov analysis.Simulation results show the output feedback control law provides good attitude tracking and assures the improved steady-state attitude error convergence.
出处
《控制工程》
CSCD
2006年第S2期40-43,共4页
Control Engineering of China
关键词
姿态跟踪
输出反馈
积分控制
低通滤波器
attitude tracking
output feedback
integral control
low-pass filter
