航天器相对大角度姿态跟踪非线性控制器设计

The Nonlinear Controller Designing for Spacecraft Large Angle Attitude State Tracking

采用修改的Rodrigues参数表示相对姿态矩阵,结合相对姿态运动学方程和相对姿态动力学方程,利用Lyapunov理论的控制方法设计了非线性控制器。该方法的一个重要的优势是可以将姿态状态的跟踪控制设计问题转变成姿态状态控制的调节器设计问题,使得设计过程将大大简化。采用机动角速度受限的控制算法对控制器进行了仿真试验。验证了此控制器鲁棒性和抗干扰性较强,姿态角速度在陀螺的饱和范围以内,具有一定的工程应用价值。

The modified Rodrigues parameters were used to represent the relative attitude matrix for the relative attitude kinematics equations and relative dynamics equations. And then the nonlinear controller was designed using Lyapunov method. An important advantage of these relative kinematics and dynamics can transfer the state tracking problem into a regulator problem, so that the design procedure can be simplified. Through the simulation testing of limiting attitude velocity, the controller is proved very robust, and the attitude velocity is inside the limite of the gyroscope measurement. It is proved that the controller has some engineering application value.