基于本征旋转的刚体姿态跟踪系统滑模控制器

Eigenrotation-based rigid body tracking system with sliding mode controller

对于转动惯量参数时变和参数不确定以及外部扰动和作用力矩方向偏差的刚体姿态跟踪系统,提出了采用滑模控制的方法.利用误差四元数建立数学模型,通过本征旋转进行反馈线性化得到指令角加速度.设计滑模控制律,实现指令角加速度跟踪.仿真结果表明,所求控制律对刚体姿态跟踪系统具有全局稳定性和鲁棒性.

A sliding mode control（SMC） method was derived and applied to a rigid body attitude tracking system in the presence of dynamic uncertainties which included uncertainties and variations in its inertia parameters,uncertainties in its control actuator alignment and external disturbances.A feedback linearization was used to obtain the required angular acceleration according to eigen-rotation.The SMC algorithm was derived to make the angular acceleration of the rigid body track the required angular acceleration.Simulation results show that the proposed SMC law is globally stabilizing and insensitive to uncertainties and variations in its inertia parameters,uncertainties in its control actuator alignment and external disturbances.