刚体飞行器大角度机动的反馈非线性化控制

Feedback Nonlinearization Control of Rigid Spacecraft Large Angle Maneuvers

研究了刚体飞行器大角度机动的姿态控制问题。采用四元数描述刚体姿态， 建立了刚体姿态运动的数学模型。基于反馈非线性化技术， 通过构造李雅普诺夫函数推导出标量增益的线性控制律和矩阵增益的非线性控制律。两种控制律不需要知道系统参数， 对模型误差具有鲁棒性。理论分析和仿真结果表明， 所求控制律对闭环系统具有全局渐近稳定性。

In this paper, attitude control problem of a rigid spacecraft with large angle maneuvers is investigated. Quaternion is used to describe the orientation of a rigid body, and attitude motion is modelled. Based on feedback nonlinearization approach, a linear control law with scalar gain and nonlinear control law with vector gain are proposed and analyzed in terms of Lyapunov function. Both control laws do not require the knowledge of the system parameters and are robust to modeling errors. Theoretical analysis and simulation results show that both the proposed control laws render closed loop system globally asymptotically stable.