航天器大角度姿态机动的自适应滑模控制

Adaptive Sliding Mode Control of Large Attitude Angle Maneuver for Spacecraft

针对航天器大角度姿态机动过程中的严重非线性、航天器惯量的不确定性及外界干扰,提出了自适应滑模控制律.利用修正罗德里格参数建立航天器的数学模型,能克服欧拉角的奇异性和四元数约束条件的限制.选择一类滑模面,基于Lyapunov函数方法推导出控制律和自适应律,使控制律完全独立于对象的参数.理论分析及仿真结果表明,该控制律对航天器惯量不确定性和外界干扰有较强的鲁棒性,并且是全局渐近稳定的.

A kind of adaptive sliding mode control algorithm is proposed in the presence of severe nonlinearity, inertia matrix uncertainty and external disturbances during the large attitude angle maneuver of the spacecraft. Modified Rodrigues parameters （MRP） is adopted to establish the model of the spacecraft, in order to eliminate the singularity of Euler angles and the constraints of the quaternion. A class of sliding mode is selected in terms of the error MRP. Based on a Lyapunov function candidate, the control algorithm and adaptive algorithm are derived, which are absolutely independent of the parameters of the dynamic plant. Theoretical analysis and simulation results show that the proposed control algorithm is globally stabilizing and robust to the inertia matrix uncertainty and external disturbances.