摘要
针对交会对接逼近段追踪器的姿态控制问题,采用反馈线性化理论推导了非线性姿态动力学方程的相变量模型。基于导出的姿控模型,引入模型误差和随机噪声,结合终端滑模控制理论,给出了能够在有限时间内完成姿态跟踪,并使状态跟踪误差收敛的控制律的设计方法。对具有扰动项的系统,仿真结果仍能满足交会任务对时间的要求,且姿态角跟踪误差趋于0,说明控制律对相变量系统的姿态跟踪控制具有较好的鲁棒性。
For the attitude control problem of terminal approach phase of RVD,the feedback linear theory was adopted to linearize nonlinear attitude dynamics,and a phase-variable states space model was deduced.The terminal sliding mode control theory considering the disturbances was used on the basis of the deduced model.Furthermore,this paper introduces a controller which implements the attitude tracking and controls the states tracking errors convergent to zero in the finite time.For the example given,the control re...
出处
《国防科技大学学报》
EI
CAS
CSCD
北大核心
2008年第2期16-21,共6页
Journal of National University of Defense Technology
关键词
交会对接
非线性
姿态控制
微分几何
终端滑模控制
rendezvous and docking（RVD）
nonlinear
attitude control
geometric theory
terminal sliding mode control
