航天器姿态跟踪系统的非线性鲁棒自适应控制

Nonlinear Robust Adaptive Control for Spacecraft Attitude Tracking System

研究有未知惯量矩阵和干扰力矩的刚体航天器姿态跟踪。对此类多输入多输出、不确定非线性系统,提出了一种非线性鲁棒自适应控制策略,用Lyapunov直接法分析了闭环系统稳定性。理论分析表明,该控制器不仅保证闭环系统一致最终有界稳定,航天器姿态跟踪误差收敛至系统平衡点的一个较小领域,而且使闭环系统对航天器惯量参数有自适应能力,对有界干扰力矩具鲁棒性。仿真结果表明:所设计的非线性鲁棒自适应控制器有效。

The attitude tracking control of rigid spacecraft within the unknown inertia matrix and external disturbances was researched in this paper. For this class of uncertain nonlinear system with multi-input and multioutput, a nonlinear robust adaptive controller was put forward, and the stability of the closed-system was proven by using Lyapunov＇ s direct method. That the closed-system was uniformly and ultimately bounded stable was guaranteed by the derived controller, and the attitude tracking error of the rigid spacecraft was converged to a small neighborhood of the equilibrium point. The closed-system with the derived controller was adaptive to inertia parameters and robust to bounded disturbances. The simulation results showed that the proposed robust adaptive controller was effective.