一种基于误差四元数的飞行器姿态跟踪系统的滑模控制器

ERROR QUATERNION-BASED SPACECARFT ATTITUDE TRACKING STYSTEM WITH SLIDING MODE CONTROL

对于参数不确定和外部扰动的空间飞行器姿态跟踪系统 ,本文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 ,选择了一类线性滑动流形 ,并且基于李雅普诺夫函数推导出滑模控制律。理论分析及仿真结果表明 ,本文所求控制律对空间飞行器跟踪系统具有全局稳定性和鲁棒性。

In this paper,a sliding mode control(SMC) method is derived and applied to a spacecraft attitude tracking system in the presence of parameter variations and external disturbances.A class of linear sliding manifolds is selected in terms of the error quaternion.Based on a Lyapunov function candidate,the SMC algorithm is derived.Theoretical analysis and simulation results show that the proposed SMC law is globally stabilizing and insensitive to both parameter variations and external disturbances.