摘要
针对一类挠性多体卫星的复合控制问题,提出一种新型滑模变结构控制算法。新型算法利用闭环系统Lyapunov函数的一阶导数估计值设计控制器,且控制器采用了递归学习控制结构,能够有效解决传统滑模控制技术的颤振问题。随后根据Lyapunov稳定性理论证明闭环系统轨迹可以快速收敛到滑模面,并且系统状态误差可在滑模面上渐近收敛到零。此外,设计的控制器能够有效抑制外部干扰,而且控制器只需要控制输入矩阵信息而不需受控系统和未知参数的其他先验信息,使得算法具有较强鲁棒性。最后通过数值仿真与现有文献中控制算法进行对比,结果充分验证了本文设计控制算法的有效性和实用性。
A novel sliding mode control technique based on the approximation of the first-order derivative of the Lyapunov function is presented for the combined control of the flexible multi-body satellites.And in this proposed control scheme,a learning control structure is used to deal with the chattering.The stability of the closed-loop system is proved by the Lyapunov theory.The theoretical analysis further shows that the closed-loop system trajectory reaches the sliding mode surface in a finite time and the system output can asymptotically converge to zero on the sliding mode surface.Additionally,the controller has better robustness to the external disturbances,only the control input matrix information is given,and no other priori information on the upper and/or the lower bounds of the unknown system parameters and uncertain system dynamics is required for the controller design.At last,compared with the numerical simulation of the controller in the existing literatures,the results demonstrate the effectiveness and practicality of this novel chattering-free approach.
作者
李信栋
邹奎
苟兴宇
LI Xin-dong;ZOU Kui;GOU Xing-yu(Beijing Institute of Control Engineering,Beijing 100190,China;Science and Technology on Space Intelligent Control Laboratory,Beijing 100190,China)
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2019年第11期1304-1312,共9页
Journal of Astronautics
基金
国家自然科学基金(61333008)
关键词
挠性多体卫星
滑模控制
姿态控制
递归学习控制
Flexible multi-body satellites
Sliding mode control
Attitude control
Recursive learning control
