考虑控制饱和的卫星姿态调节输出反馈控制器设计

Output Feedback Controller Design for Satellite Attitude Regulation Subject to Control Saturation

研究了基于四元数的刚体卫星在控制输入受限时的姿态调节控制问题。针对姿态角速率信号不可测量的情形,设计了一种仅依赖四元数信息的输出反馈控制方案,并通过李亚普诺夫方法证明了闭环系统零平衡点的全局稳定性。同时,通过在控制方案中引入双曲正切饱和函数,推导出只需控制参数的选取满足某一限制条件,就能有效地抑制控制输入的饱和问题。仿真结果表明了所设计的输出反馈控制方案的有效性和可行性。

The problem addressed is the quatemion-based, attitude regulation control for rigid spacecraft subject to control input constraints. An output feedback control scheme that is dependent on quatemion is designed without angular velocity measurement. Lyapunov theory is employed to prove the global asymptotic stability of the zero equilibrium points of the close loop system. On the other hand, by introducing hyperbolic tangent saturation function into the control scheme, it can be concluded that the control input saturation problem can be effectively restrained so long as the control parameters are selected to satisfy a specific inequality. Simulation results demonstrate the effectiveness and feasibility of the proposed output feedback control scheme.