摘要
针对航天器姿态控制系统的强非线性和外部干扰力矩的不确定性,提出了一种自适应滑模变结构姿态控制方法。首先建立采用欧拉角描述的航天器姿态动力学模型,并分解出线性项和非线性项。然后,结合系统非线性项和不确定干扰力矩,引入模型参考自适应控制和自由阶次切换函数,设计了自适应滑模姿态控制律。得到的自适应滑模姿态控制器能够保证航天器在外部干扰力矩不确定的情况下在有限时间内收敛到期望值,姿态角度和角速度精度分别达到10-3和10-5量级。采用Lyapunov稳定性理论证明了所设计的滑模变结构控制律能使航天器姿态闭环系统稳定,数值仿真验证了所设计控制律的可行性和有效性。
An adaptive sliding mode variable structure attitude control method is proposed for the spacecraft attitude subject to system uncertainties of external disturbances and strong nonlinearity. The spacecraft dynamics models described by Euler angle are established , and the linear term and nonlinear term are decomposed. Then, combining the system nonlinear term and the uncertain disturbance torque, the model reference adaptive control and the free order switching function are introduced to design the adaptive sliding mode attitude control law.The adaptive sliding mode attitude controller can ensure that the system converges to the expected value within a limited time under the external disturbance torque uncertainty, and the attitude angle and angular velocity accuracy are respectively reached 10^-3 and 10^-5 .The asymptotical stability of the system under the adaptive sliding mode control method are proved using Lyapunov stability theory. Numerical simulations demonstrate the feasibility and effectiveness of the proposed control algorithm.
作者
王永俊
贾建芳
Wang Yongjun;Jia Jianfang(School of Electrical and Control Engineering, North University of China, Taiyuan 030051, China)
出处
《电子测量与仪器学报》
CSCD
北大核心
2019年第9期9-15,共7页
Journal of Electronic Measurement and Instrumentation
基金
国家自然科学基金(61573250)
山西省青年自然科学基金(201801D221208,201801D121159)资助项目
关键词
航天器
姿态控制
不确定扰动
自适应
滑模变结构控制
spacecraft
attitude control
uncertain disturbance
adaptive
sliding mode variable structure control
