考虑控制输入饱和的卫星姿态调节控制

Satellite attitude regulation control subject to control Input saturation

研究了刚体卫星在控制输入饱和、外干扰和参数不确定性存在时的姿态调节控制问题.设计了可动态调节参数的控制器,能够保证姿态和角速度都是渐近趋于零的.通过李亚普诺夫方法证明了闭环系统零平衡点的全局渐近稳定性.所提出的控制方案不依赖于卫星的转动惯量,因此对参数不确定性具有鲁棒性.仿真结果表明,在控制输入饱和情况下,所设计的控制方案在实现姿态控制的同时,对外部扰动也能够有效地抑制.

This paper deals with the problem of attitude regulation control of rigid satellite subject to control input saturation, external disturbance and parametric uncertainty. In the proposed controller, a single parameter is adjusted dynamically in such a fashion that it is possible to prove that both attitude and angular velocity will tend to zero asymptotically. Lyapunov theory is employed to prove the global asymptotic stability of zero equilibrium points of the closed loop system. The controller is derived independent of satellite inertia matrix and thus robust to parametric uncertainty. Simulation results demonstrate that the control scheme realizes the attitude control under control saturation and implements the effective rejection problem for disturbances.