基于输出反馈的柔性航天器变结构跟踪控制方法

Variable Structure Tracking Control of Flexible Spacecraft Based on Output Feedback

为解决柔性航天器姿态机动的控制问题,给出了基于输出反馈的变结构跟踪控制算法。针对柔性航天器的大角度机动,在建立了柔性航天器相对参考轨迹的动力学方程的基础上,设计了仅利用航天器本体的角度和角速度信息的变结构跟踪控制器,使得姿态状态跟踪误差(包括姿态跟踪误差和姿态角速度跟踪误差)以及挠性附件的模态变量从任意的初始状态出发都会到达包含原点的一个闭集内,并且姿态状态跟踪误差能收敛到零,并给出了严格的数学证明。仿真结果证明了所提控制方法的可行性和有效性。

To solve the attitude maneuver of a flexible satellite,this article presents a variable structure tracking control algorithm based on output feedback.For large angle maneuvers of a flexible spacecraft,on the foundation of establishing the dynamic equation of the flexible spacecraft relative to the reference trajectory,a variable structure tracking control algorithm is designed using only the measurements of attitude and angular velocity of the spacecraft.Accordingly the system tracking error（including the attitude tracking error and angular velocity tracking error）and the mode variables of the flexible appendage can be controlled from any initial state to a closed set with the origin inside;in addition,the attitude tracking error and angular velocity tracking error will finally converge to zero.Rigorous mathematical proof is given,and numerical simulation validates the feasibility and effectiveness of the control algorithm.