考虑姿态的绳系卫星后退时域回收控制

RECEDING HORIZON CONTROL OF RETRIEVAL OF A TETHERED SUBSATELLITE WITH ATTITUDE

建立了计入子星姿态运动的绳系卫星非线性动力学模型,研究了子星回收过程的非线性后退时域控制问题.将非线性后退时域控制问题伪线性化为一系列线性最优控制,并在Legendre-Gauss点离散,作为该复杂受控绳系卫星系统的数值求解策略.结果表明,通过调节系绳张力和作用于子星上的力矩,可实现子星的稳定回收,所设计的控制律对初始状态扰动、模型误差和外扰力等扰动均有良好的抑制作用.

This paper presents the nonlinear receding horizon control model of the retrieval process of a tethered subsatellite,which accounts for the attitude motion of the subsatellite.In order to obtain the numerical scheme for the controlled tethered subsatellite,the nonlinear receding horizon control problem is simplified into a set of linear optimal control by the quasi-linearization,and discretized at the corresponding Legendre-Gauss points. The numerical results show that the subsatellite can be retrieved by adjusting the tether tension and moment applied to the subsatellite.The proposed control scheme effectively works for the retrieval process of the tethered subsatellite in the presence of modeling errors,initial state perturbations,and external disturbances.