摘要
针对刚体航天器存在外部有界干扰问题,结合自适应控制方法和滑模控制方法的优点,提出并设计了自适应滑模控制器。由于引入自适应律可以实现对外部干扰的在线估计,提高了控制律对外部干扰适应能力,体现了用自适应滑模方法设计的控制器对外部干扰的鲁棒性。将经典滑模控制器中的符号函数用双曲正切函数替换,消除了系统产生的抖振。最后将设计的控制器应用于航天器姿态跟踪控制中,并用Lyapunov稳定性理论分析了闭环系统的渐进稳定性,仿真结果表明该方法对系统外部干扰的影响具有良好的鲁棒性,设计的该控制策略可以实现高精度航天器姿态跟踪控制。
An adaptive sliding mode controller combined with the advantage of adaptive control method and sliding mode control method was designed for rigid spacecraft with external bounded disturbances.By using adaptive law,the external disturbances were estimated and the robustness of the control system was improved.System buffeting was eliminated by substituting the signal function with hyperbolic tangent function.Designed controller was applied in spacecraft attitude tracking system,and the asymptotic stability of the close loop system was analyzed by employing Lyapunov stability theory.The simulation results show that this method has a good robustness to external disturbances.High precision attitude tracking control is achieved.
出处
《电机与控制学报》
EI
CSCD
北大核心
2015年第2期96-100,108,共6页
Electric Machines and Control
基金
航天科技创新基金
关键词
航天器
姿态跟踪
抖振
自适应
滑模
spacecraft
attitude tracking
chattering
adaptive
sliding mode
